|Home made optical encoder odometry sensor.|
The sensor has been tuned so it senses the relative color of the backside of the wheel and I drew a black and white circle encoder for the backsides of the wheel.
Unfortunately I get very bad results. The sensor is not really intended for this. I have adjusted it so its very sensitive to the black and white color changes but I guess the motors interfere with the measurements.
I think I'm going to buy a better sensor and perhaps new motors.
I also found this resource giving a good overview of odometry sensors.