ON 20040111@10:11:44 PM at page: http://techref.massmind.org/techref/io/sensor/pos/enc/quadrature.htm#37997.9248148148 James Newton[JMN-EFP-786] See also: http://www.mcmanis.com/chuck/robotics/projects/lab-x3/quadratrak.html Using Mechanical Rotary Encoders ON 20040111@10:16:54 PM at page: http://techref.massmind.org/techref/io/sensor/pos/enc/quadrature.htm#37997.9283912037 James Newton[JMN-EFP-786] Says Mechanical Rotary Encoders can cost as little as $4.70. E.g. The GreyHill unit from Digikey (GH3071-ND) qty 1 ON 20040111@10:28:13 PM at page: http://techref.massmind.org/techref/io/sensor/pos/enc/quadrature.htm#37997.9362615741 James Newton[JMN-EFP-786] See also: http://www.mcmanis.com/chuck/robotics/projects/encoders/index.html Wheel encoder patterns