Step 3 - Wiring

Connect the encoder's output to the KANGAROO's input (use the channel 1). Make sure that is correctly connected (5v, ground, A, B)
Some encoder's have the "I" wire. The ones I have don't. And it works perfectly.

Connect the motor power (+ / -) wire to the A1 and B1 SABERTOOTH's terminals
Power up the Sabertooth using the + and - terminals.

ATTENTION! Be very careful doing that wiring! if you invert the poles you're gonna fry your board!