A robot control system requires a shaft velocity measurement in the range 60-3600 rev/min with a resolution of 10%. The handshakingprotocol allows communication to the computer only every 10 ms. I have to calculate the minimum number of lines required on the encoder disk if an optical incremental encoder is to be used? Please tell me how to do? & if you would be able to tell me and flow diagram as well to understand the system?