b338cbe5_otics_Tutorials_and_Curriculum__Tutorial_Description
[Tutorial & Other Resources] Creating Shaft Encoders for Wheel Position Sensing [Tutorial Description] 
Creating Shaft Encoders for Wheel Position Sensing By tracking the positions of its wheels, your robot can keep track of its position and navigate using dead reckoning. Learn how to build shaft encoders to sense wheel positions. This tutorial covers the following topics: infrared photo-reflective sensing analog sensor sampling analog-to-digital conversion collecting and reporting sensor data analyzing analog signals shaft encoding developing interfaces and classes using arrays multi-threading exercises
Java Robotics Tutorials and Curriculum
Tutorial Description