Encoders

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Introduction

Encoders are a useful tool for measuring rotation, and line encoders can measure translation as well. Both types of motion are measured on Kubo using encoders. To learn more about encoders, please visit PJRC's Encoder Library page (link). This page also covers the finer points of using these sensors with Arduino, including the use of interrupts and a short discussion on speed.

Setup/Installation

Other Information

In order to use the line encoder, it was necessary to scale the voltages such that the Teensy 3.5 could properly read them. The following links were used:

• PJRC Forum "Teensy 3.5 & 3.6 Analog Voltage" (link)
• Stack Exchange "Is a Voltage Divider a Noisy Circuit" (link)
• Sparkfun Tutorial "Capacitor Application Examples" (link)

Troubleshooting

Helpful Links

• PJRC "Encoder Library" (link)
• Posital "Incremental Encoder Interface" (link)