Optical Encoder Algorithm...Dedicated Motor Controller

Rick Cassidy · 2003-12-08T14:02:42+00:00

Hi once again all.I'm setting up a dedicated PIC for wheel control with the feedback of 6magnets (On each wheel) and hall effect sensors.I'm not sure if this is still referred to as an optical encoder because as Isee it there are no optics involved however,The basic premise of operation is:The main board and motor board will be connected by 2 lines (Data &Control). These two boards communicate with a homemade protocol to insurethere will be no bumping heads. The protocol will be similar to the PS/2 KBprotocol.The motor-boards whole job is to follow commands given to it by the mainboard. An instruction might be:Forward 10, 2.5, 1(Go forward 10 feet, speed of 2.5 r/s, Dead stop when arrive)Here's the topic in question:1) Can I measure the speed of the wheels by measuring the Pulse Width of theMagnets affecting the Hall Sensor?________|``````|________|``````|___________ *** ***Or should I be measuring the time in-between the Magnet affected pulses?________|``````|________|``````|___________ ********2) Also a problem that comes to mind is how can the PIC measure both wheelsat the same time accurately?This is why I thought the shorter (Magnet affected pulses) would be betterto measure.The magnets will hopefully arrive today. And I will be tackling these issues(As well I'm sure, some that I haven't thought of) and I will post results.I will be googling for some odometry data as well.Thanks for any input,Rick-

Dec 08, 2003 20 Replies

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Dave 22 years ago

Ahh. Very clever. I had never heard of doing it that way before.

-Dave

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Optical Encoder Algorithm...Dedicated Motor Controller

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