17/08/2026
One of the less visible upgrades in RoboRover V3 is a change we made purely for reliability.
In the previous version, wheel rotation was measured optically using a TCRT1000 mounted on the PCB, detecting the alternating white teeth on the wheel.
It worked — but the measurement depended on several mechanical and environmental variables:
• Sensor-to-wheel distance
• Wheel alignment and tolerances
• Surface reflectivity
• Ambient light and contamination
• Small changes in the mechanical assembly
For V3, we moved the encoders directly onto the motor shaft.
Now the encoder measures rotation at the source, before wheel tolerances, wobble or surface conditions can influence the signal.
The result is a much more deterministic feedback system:
Motor turns → encoder measures it.
Cleaner signals, more consistent counts between units, easier calibration, and significantly better reliability for odometry, speed control and closed-loop motion.
Sometimes improving a robot isn't about adding another feature.
It's about removing uncertainty.
What's your experience on wheel encoder implementation?
