Take Control

Part I

• THEORY: Encoders (optical, magnetic, capacitive)
• DEVICES: rotary optical encoder
• HANDS-ON: connect an encoder to a DC gear motor (from mini-bot kits)
  • Observe pulses with oscilloscope or LED
  • Connect encoder to Arduino and maintain speed across range of loads by varying PWM in response to encoder output

Part II

• THEORY: current measurement (revisit ohms law, use of sense resistor)
• DEVICES: current sense resistor
• HANDS-ON: measure load on motor by monitoring current through sense resistor; implement stall protection if current exceeds threshold.