| | 1 | = Take Control = |
| | 2 | |
| | 3 | == Part I == |
| | 4 | * THEORY: Encoders (optical, magnetic, capacitive) |
| | 5 | * DEVICES: rotary optical encoder |
| | 6 | * HANDS-ON: connect an encoder to a DC gear motor (from mini-bot kits) |
| | 7 | * Observe pulses with oscilloscope or LED |
| | 8 | * Connect encoder to Arduino and maintain speed across range of loads by varying PWM in response to encoder output |
| | 9 | |
| | 10 | == Part II == |
| | 11 | * THEORY: current measurement (revisit ohms law, use of sense resistor) |
| | 12 | * DEVICES: current sense resistor |
| | 13 | * HANDS-ON: measure load on motor by monitoring current through sense resistor; implement stall protection if current exceeds threshold. |
