I incorporated a simple wheel encoder the the left and right rear wheels using Hall effect sensors. Six 3D printed brackets holding small rare earth magnets were glued between the existing spokes of the left and right rear wheels, and a small bracket positioned the hall effect sensor in an ideal space. This system breaks each side wheel down to a six quadrant system and allows for more precise motor control. This is a minimally invasive solution to drive precision that allows for the use of existing original omnibot hardware.