A key part to the robot's mobility system are the encoders mounted on each drive wheel. An encoder is a device that measures rotation by converting angular position into digital or analog code. This lets the control system of the robot control the precise angular position of whatever rotating body the encoder is being used on. In the case of the robot each powered drive wheel has an encoder attached to it's drive shaft. This let's us control the exact angular position of the drive wheel. This can be thus used to control the exact speed or position of the wheel.
