PaulRobert1

Hello, lemme say, i tried that, bo matter what you do the motors are slow and will overheat fast, if ur pid is too low they wont move properly, if...

https://www.ebay.co.uk/itm/AEDR-8300-Series-Encoders-Reflective-Surface-Mount-Optical-Encoder-2-channe-W1V8/123276004045?epid=8006938605&hash=item1cb3d28acd:g:XcwAAOSwNDVbW0sH

Cheap encoder link, u have to make the disc, i made it with a 3d printer

And mirror on the other side, and disc must b thin

You could go with as many lines as u can, like i did to test and get used to the whole thing until u scavange the real deal :) here...

https://www.ebay.co.uk/itm/NEW-5V-24V-Encoder-600P-R-AB-2-phase-6mm-Shaft-Incremental-Rotary-Encoder-WD/292424483269?epid=11011024104&hash=item4415db81c5:g:jWUAAOSwyH9aKQVL

U got to open it, inside u will find 2 empty pads ready 2 solder components, solder 2 4k7 resistors on the pads before giving it a go.

With 3d printed encoder disk i managed to get a precision of 0.1, wich isnt that bad taking into account the disk precision

Or go to the scrap yard and get encoder strips from old plotters