Changes between Version 11 and Version 12 of ControlSystems/SoftwareTeam/Training/GettingStarted/Encoders

Timestamp:

Oct 31, 2019, 1:16:07 PM (6 years ago)

Author:

David Albert

Comment:

--

ControlSystems/SoftwareTeam/Training/GettingStarted/Encoders

@@ -27 +27 @@
     leftEncoder.reset();
   }}}
-* In robotPeriodic() read and display the encoder valuey
+* In robotPeriodic() read and display the encoder value
   {{{
     int encoderValue = leftEncoder.getRaw();
@@ -69 +69 @@
 [[Image(encAB.gif,right,250px,margin=10)]]Notice that the raw count reports the sum of both A and B channels of the quadrature encoder.  A quadrature encoder works like the optical encoder shown above, but with two rows of slits in the disk, each slightly offset from the other (overlapping) and each with its own light source/detector.  This allows you to determine not just distance and speed but also direction.  The light detectors are labeled A and B; because the slots overlap, the sequence of detected light as the wheel rotates forward is:  A, AB, B, off, A, AB, etc.  When the wheel rotates backwards, the sequence is B, AB, A, off, B, AB, A, off.  
 
-You can read more about quadrature encoders [https://robu.in/quadrature-encoder/ here] [[Image(quadEncoder.gif,right,250px,margin=10)]]
+You can read more about quadrature encoders [https://robu.in/quadrature-encoder/ here] [[Image(quadEncoder2.gif,right,250px,margin=10)]]