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[DPRG] Wheel encoder theory
Subject: [DPRG] Wheel encoder theory
From: Vimal Shankar
vimalsshankar at yahoo.com
Date: Mon Oct 9 10:44:35 CDT 2006
I did some searching on wheel/shaft encoders on Google
and Yahoo, and I got a VB Program to design wheel
encoders for me.
I also got a few documents on designing my own shaft
encoders using old mice parts.
But what I want to do, is design a encoder system
which may use IR/Visible light (CdS/Phototransistor)
but NOT the readymade reflectance sensors. (Is this a
bad idea ?)
I also want a few articles/links which teaches me the
theory behind designing absolute/angular encoders and
relative encoder measurements, so that I can deisgn my
own encoder wheels and ALSO learn how to make sense of
them/read them.
Altough I have a readymade program to design the
encoders for me, I will not be comfortable being
ignorant of the messy details "behind the scenes".
I have a feeling that a good wheel encoder is integral
to designing a good micromouse which can take
diagonal/angular turns.
Specifically, I am thinking of designing a
differential drive mechanism which I can use to
navigate ANY angular turn.
My idea is this :
I shall have a differential drive which has a
dedicated microcontoller to it.
I just instruct it to turn 'x' degrees from the
current position, and it gives me feedback about how
much it really did turn.
I hope I could describe my goals clearly. Looking
forward to some great help !
PS : Are there any method to handle backlash for
Geared DC motors and slippage ? miscounted steps in
stepper motors ?
Regards
Vimal
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