These have been done and sitting for a couple weeks. Now I’m finally getting around to playing again.
Two QRD1114 and a 74LS14 to square up the signal.
Built on a leftover protoboard from Gadget Gangster with an ATMega328 at 16MHz (yes, running as an Arduino) and a Pololu TB6612FNG motor driver. The two wheel encoders go to the interrupt pins. The little surface mount chip still needs its connections soldered up, it’ll be the 3.3v-to-5v I2C translator between this and the BeagleBone Black.
Now it’s time to get to some coding to see this thing actually spin its wheels.