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The encoders where made using two QRB1114 from digikey and a white full sheet label (perched from office depot). The way I build the sensor was exactly how Alex Brown build his for his robot Snuffy. Here is a link for that Line sensor. The encoder disk was created fist in Adobe Photoshop. And then printed out on to the white sheet label. Then the encoder disk was cut and glued on to the wheel.
Here is the template in various formats. When you print it make shore that the resolutions is set correctly. Photoshop: encoders.psd Resolution: 150 pixels/inch GIF format: encoders.GIF Resolution: 72 pixels/inch BMP format: encoders.BMP Resolution: 150 pixels/inch
Mount the sensors using some L shape scrap pieces on to the side of the robot. Make shore that the sensors are about 1/4" away. I had mine too close and the reading was erratic.
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