Several years ago I bought the A4WD1 Autonomous Kit, which at that time didn’t have the encoders.
I would like to replace the motors with motors with back shaft or with included encoders.
The robot is used with ROS and SLAM navigation, so it doesn’t need to move quickly (1m/s is more than enough) but it needs torque in order to be able to turn in place on any surface at low speed.
The Lynxmotion GHM motors would be the easiest option for me, however the Lynxmotion encoder seems not to be of best quality according to user comments and the price of the GHM motor + the encoder is much higher than most of the other motors w/ encoder.
On the other side, the other options you mentioned look great, but I have to connect them with my Sabertooth RC 12V motor controller (which btw only accepts 12A) or I have to change the controller.
Are there better controllers than the sabertooth on which we can directly plug the 6 cables of the motors you mentioned ?
Thanks in advance !
EDIT: I had a look at almost all the motors with encoder, and based on the torque and rpm I need, I selected this one:
Will it fit in the a4wd1 ? Is is possible to buy the plug with longer cables ?
I fits the A4WD1 perfectly and the encoder is working well too.
I’m still wondering what’s the name/type of the 6pins plug, because I would like to buy spare plugs or eventually ones with already longer cables.