Our robot is now getting quite busy, and our Raspberry Pi is above the slots for the encoders. We may need taller Pi standoffs to accommodate the encoders. Due to them being under the Pi, we should wire them in a little before returning the Pi. After bolting in the Pi, we will wire them through the level shifters to the Pi, as well as the power and ground.
Before we start changing the robot and making it harder to see, we will need to know the number of slots in the encoder wheel for later, which is shown in the following photo:
Encoder wheel
My encoder wheels came out at having 20 slots. If the seller you bought the robot chassis from printed this, you would be able to check that your number is the same as theirs.