This sections gives some theoretical information on adding wheel encoders to your Ebot as well as some descriptions of implementations.

Using Encoders:   This sections is a tutorial on using the information available from encoders

Adding Encoders:   This shows different ways that you can add encoders to your Ebot

Hardware reader:   Shows a hardware circuit that permits accurate encoder reading by Basic Stamp or equivalent processors with no interrupt capability.

Polling:  Shows how a Basic Stamp or equivalent processor CAN read encoders without the hardware reader above (but with some loss of processing efficiency).