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Encoders

-                      v14
+                      v15
 You can read more about quadrature encoders [https://robu.in/quadrature-encoder/ here] [[Image(quadEncoder2.gif,right,250px,margin=10)]]
+There are many types of encoders; the ones shown here use light, but there are magnetic, capacitive, and other detection mechanisms.  Encoders can have a single channel (A) to determine speed and distance traveled, two channels (A,B) to determine speed, distance, and direction, and many encoders have a third channel (A, B, Z) where the Z (index) channel only provides a single pulse per full rotation of the wheel.  This can be useful if you need to move the motor to a precise position.
 Extra credit: ask a mentor to get an oscilloscope so you can see the pulses generated by the encoder as the wheel rotates.