A vehicle , comprising: a front drivable section, comprising: a first connector coupled to a chassis of the front drivable section, wherein the first connector is located towards a rear region of the front drivable section; and a rotary encoder assembly , comprising: a base surface coupled to a surface located below the first connector; a housing that includes a first end that is at least partially open and a second end that is opposite to the first end, wherein the second end of the housing is connected to the base surface , and wherein the first end of the housing is coupled to a housing cap ; and a rotary encoder that is located in the housing in between the base surface and the housing cap , wherein the rotary encoder includes a rotatable shaft that protrudes from a first hole located in the housing cap and is coupled to the housing cap via a plurality of non-rigid compressible couplings that include a plurality of shoulder screws , wherein a top of the rotatable shaft located away from the rotary encoder is coupled to one or more magnets , and wherein at least some portion of each of the plurality of shoulder screws are located in one of a plurality of springs having first ends that are located below the housing cap and second ends that are opposite to the first ends that are located above the rotary encoder. a first connector coupled to a chassis of the front drivable section, wherein the first connector is located towards a rear region of the front drivable section; and a rotary encoder assembly , comprising: a base surface coupled to a surface located below the first connector; a housing that includes a first end that is at least partially open and a second end that is opposite to the first end, wherein the second end of the housing is connected to the base surface , and wherein the first end of the housing is coupled to a housing cap ; and a rotary encoder that is located in the housing in between the base surface and the housing cap , wherein the rotary encoder includes a rotatable shaft that protrudes from a first hole located in the housing cap and is coupled to the housing cap via a plurality of non-rigid compressible couplings that include a plurality of shoulder screws , wherein a top of the rotatable shaft located away from the rotary encoder is coupled to one or more magnets , and wherein at least some portion of each of the plurality of shoulder screws are located in one of a plurality of springs having first ends that are located below the housing cap and second ends that are opposite to the first ends that are located above the rotary encoder. a base surface coupled to a surface located below the first connector; a housing that includes a first end that is at least partially open and a second end that is opposite to the first end, wherein the second end of the housing is connected to the base surface , and wherein the first end of the housing is coupled to a housing cap ; and a rotary encoder that is located in the housing in between the base surface and the housing cap , wherein the rotary encoder includes a rotatable shaft that protrudes from a first hole located in the housing cap and is coupled to the housing cap via a plurality of non-rigid compressible couplings that include a plurality of shoulder screws , wherein a top of the rotatable shaft located away from the rotary encoder is coupled to one or more magnets , and wherein at least some portion of each of the plurality of shoulder screws are located in one of a plurality of springs having first ends that are located below the housing cap and second ends that are opposite to the first ends that are located above the rotary encoder. <EOS>