An optical encoder design was drawn up in order to allow for a feedback signal of the drive wheel’s rotation speed. Three design iterations were drafted in order to reach the final design. All three iterations made use of two electrical switches placed slightly apart from each other in such a way that as the wheel rotates, the switches are interrupted. The frequency of the interruption corresponds to an angular velocity of the wheel. The use of two stitches allows for direction to be measured using quadrature. In a certain direction, their signal will pulse in a certain order.