The theoretical resolution of the encoders:

Blades: 10 (20 ticks per revolution)

Wheel Diameter: 6.3 cm

Wheel Circumference: π*6.3cm = 19.79 cm

If we calculate on both the rising and falling edge of the signal, we get 20 ticks per wheel rotation, for a final resolution of 0.98 cm/tick

In our trials, we found that the actual distance varied quite a bit:

Using the above, we calculated that 81 ticks should be about 80 cm. In reality, that value ranged from 82.7 to 85.1 cm in our trials.

Taking the average of those values, and diving by the number of ticks, our actual value is 1.03 cm/tick

Below are two charts, one for each of the break beam sensors on each wheel. A distance of 50 cm was chosen for each one.

The wider spaces at the end is where the robot slowed down.