Encoders on Oculus

[Sellec]

Is There any way to determine current speed of oculus platform (the speed is dependent of ampers, length of usb-cable, notebook weight and other reasons)?

and is there any way to determine current position of tilt camera?

[brad.zdanivsky]

Speed you can get for your bot, your flooring, when undocking. You can calculate from the dock positions, but this is just an estimate. You're right, encoders would solve this and give realtime measure, but means hacking the firmware. 

You can get the camera tilt if in developer mode and want to extend the Java code. If give bit more detail, can help you.

[XaxxonColin]

The drive wheels in Oculus actually have a 64 strip encoder pattern molded into the back of the hub, that are compatible with "Wheel watcher" optical encoders (link).  I don't think anyone has tried it yet, but it looks like these encoders can bolt right on to the motors as-is...?

You can extend the ArduinOculus firmware to communicate with the encoders

For mirror tilt servo positioning-- in the web client window, the 'camera tilt' status item in the upper right shows the servo position from it's calibrated horizontal position.