This work describes the integration of a rotary shaft encoder system through multiple layers of hardware and software abstraction for autonomous control of an All-Terrain Vehicle (ATV). The motor encoder info can be used in junction with the vehicle’s kinematics to control its trajectory as it navigates its environment. The measurable data in question is related to velocity, distance travelled, and the angle of throttle movement. The encoder model was designed using computer aided design (CAD). The design utilizes a ring of evenly spaced magnets that is attached to the axle of the vehicle. The encoder spins the magnets trigger a Hall effect sensor that is attached to a 3-D printed mounting bracket bolted to the chassis. Each pulse represents a distance the vehicle has travelled and is added to a counter. Integration over time is used to measure the distance travelled within a second which can then be converted to velocity. The velocity and distance travelled is monitored using a micro-controller that sends instructions or commands to a servo controlled throttling system. The angular position of the servo is representative of a specific increasing or decreasing the throttle speed. An increase or decrease to the servos angle will slow down or speed up the vehicle. The encoders step resolution is 0.214 meters with eight pulses signifying a complete wheel rotation. The encoders highest trial error was 2 percent during a 550-meter test, and a 0.07 percent trial error during a 30-meter test.