Parallax offers a wheel encoder kit for the Boe-Bot here. I'm not sure if this is what you mean by "specialized hardware". If it is, and you still want to go it on your own, you might still benefit by the documents and code samples available on that page.
agfa
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Parallax offers a wheel encoder kit for the Boe-Bot here. I'm not sure if this is what you mean by "specialized hardware". If it is, and you still want to go it on your own, you might still benefit by the documents and code samples available on that page.
-Phil