I'm using the Rex motor with the high resolution encoder to turn the waist on my B9.

I appreciate any comments or insights you guys can provide. I know this is kind of an open ended questions but if anyone have used any of these wheel/motor combinations please provide your 2 cents as it relates to the items listed above. For example example I should be able to have to robot move lets say 1 feet at a certain speed. I need to be able to control both the position and speed of the motors at the same time. Since I am going to build a body, arms and head on top of the base the torque and weight carrying ability is important. It seems at least to me that the Zagros wheels would provide more ground clearing but since the base plate of the chassis provides stability to the base platform I am not really sure if using the Zagros motors are feasible. The other item floating in my mind is the ground clearance between the two motor/wheel sets. One of the key items for me is how well the encoders between the two different motor/wheel sets works with the Sabertooth and kangaroo. I also find myself in a heated mental debate between the wheel/motor combination from parralax or the Zagros Rex motors and wheels combined with the Sabertooth/Kangaroo. I will most likely be using the Sabertooth and kangaroo combination for motor controller/PID but I am not decided on this and open to suggestions. I have decided on the Parralax Arlo base for my next robot chassis. Since I know some of you have used the Sabertooth and Kangaroo I figured I would ask opinions.

Encoder wheel robot 20 slot