I have an AR3 built about a year ago. I noticed a lot of nosiy readings from the encoders. After I jog the robot around for a while, the control software will show 'inconsistent encoder value error' and the encoder values drift slightly from time to time. Could this be a shielding problem? I am using unshielded CAT6 cables connecting the robot to the control box and the cables inside the control box are also unshielded. Thanks.
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The external power supply on the AR3 is just to power the 8 channel relay board. I wanted the controller to have the ability to control multiple relays but I dont think many people are using more than one or two relays so in the AR4 drawings I only show the installation of one relay and a nano board. That being said I would not power the encoders from the 5v supply and only from the teensy and do not have the teensy share a common ground with the other b