Selecting Encoders for Wheel Chair Motors

I’d like to try using the encoder functionality included with Rover 3.5 but the wiki describes motors with integral encoders. I have some large wheel chair motors with a shaft extending out the back (10mm diameter I think, protruding about 1.5in) that I would like to mount an encoder on.


Do you guys have any recommendations for a good encoder? The shaft comes out of the gear box, so I need to figure out the gear ratio to implement it properly. Because of this, I don’t think I need a super high resolution encoder, it will already rotate 30-60 times per actual tire rotation. Are there limitations to the maximum CPR and speed at which they can be read?

Would something like this work for my purposes? The tire diameter is 10in if that makes a difference.

Any advice would be greatly appreciated.

I use these the come with different bushings for shaft sizes.