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I am playing around with my four wheel drive robot base https://hackaday.io/project/187319-robot-donkeys and I am not liking the results. The hall sensor resolution of 4 degrees is just making the robot act weird. Does anyone have the details of how to add an optical or absolute encoder to a hoverboard wheel or know of a hoverboard wheel with 10" to 15" (preferably with off road tread) diameter with a high resolution encoder built in. Thanks for any leads!