PID on Zumo using Optical Encoders - Results

For those who might be interested, I’ve gotten the optical encoders working on Zumo and posted about the results here:

I had to cut small holes into the underside of the motor housing to allow for the wiring but it was a relatively easy mod as you can see here:

Very happy with how the encoders worked out. I didn’t use a comparator or amplifier for the signals. Just hooked them straight to the microcontroller. This may or may not work for all setups and I’ve yet to see what happens when the batteries get low.

Thanks for sharing! It is exciting to see people adding our new encoders to their Zumos.

- Jeremy