This robot uses optical encoders to 1) measure how far it has traveled, 2) measure the speed of the wheels, and 3) tell the robot when to shift gears. Information from the encoder is fed into the Robot Controller where algorithms compute data giving us data we can use to control the robot.

   A potentiometer, also known as a variable resistor, is attached to the base of the elevator lift. With this potentiometer we can program the arm to go to preset positions automatically.