Wheel Encoders for Robotics
Presented 06/27/01 @ Homebrew Robotics Club
Introduction to Encoders
A quick introduction to what an Encoder is and what it does.
Types of Wheel Encoders
Designing/Using Encoders specifically targeted to wheels/motors.
- Rate Encoders with 30 degree and 10 degree increments.
- Quadrature Encoder
- 2 Bit Binary Encoder
- 4 Bit Gray Code Encoder
Circuits for Sensors
Different means of sensing the encoder and "reading it"
Processing Quadrature Encoders for position feedback.
Examples of Use
A PID loop designed to slow down motors that are two fast.
Some links around the Web the might be helpful.