hall effect

[dragons_fire]

im building a robot that uses 71RPM max motors, and i want to be able to measure the revolutions so that i know how far it goes. what is the best way to do this? pulsin or count. and how do they get wired? can i just put the signal line from the sensor straight into the pin on the PIC?

the hall effect sensors im using are:

http://rocky.digikey.com/WebLib/Opte...20OHS3120U.pdf

and im using a PIC18F6585

the robot is just for fun and its going to be used indoors to map my house, (somewhat like a micromouse would).





the pic shows the base of it, which is 3" x 3" x 1". both motors and the battery back fit inside, while the PCB sits ontop and is about 3" x 3". The motors in it were just put in for test fitting. i am going to use some of the solarbotics 298:1 gear motors.

Danny