Rotary encoder is a sensor attached to a rotating object (such as a shaft or motor) to measure rotation. By measuring rotation your robot can do things such as determine any displacement, velocity, acceleration, or the angle of a rotating sensor. 1.0 Introduction A typical rotary incremental encoder consists of a light-emitting diode (LED), a disk, and a light detector on the opposite side of the disk (see next figure). The disk, which is mounted on the rotating shaft, has patterns of opaque and transparent sectors coded into the disk. As the disk rotates, the opaque segments block the light and, where the glass is clear, light is allowed to pass. This generates square-wave pulses, which can then be interpreted into position or motion. These pulses can be read by microcontroller as part of a PID feedback cont System to determine translation to distance, rotational velocity, and/or angle of a moving robot or robot part. For instance, if you have a wheel rotatin...
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