[chbot] Odometry

[Andrew Errington]

On Tue, 31 Oct 2006 21:56, you wrote:
> I'd like to modify my base to correct for the slight differences in the
> motors and thought that odometry might be the way to do it.
>
> Anyone had experience with through hole type encoders (where the shaft
> goes through the encoder)?
>
> What about the home made reflective ones?
> Ta

Yes.  The one I built for my Tamiya gearbox was a home-made through hole 
design.  I put all the details up on Instructables.com.  The same idea 
would work for a reflective design too.

Unless you can access one of the higher gears then you will be limited to 
how many black and white segments you can resolve on a disc stuck directly 
to the wheel, but even that should be accurate enough to keep both wheels 
in sync.

Chris's suggestion to print them with PostScript is a good one, and I think 
there is some code 'out there' to do just that.

A