Buzzbot – Wheel Encoders

Now that the Motor Drive Controller has been worked out, (but yet untested)  I needed to make up some encoders for the Left and right Wheels.  After a bit of research I found an excellent program for creating encoders and quickly made two and have just glued them to the inside of the wheels for some rough and ready testing.  I really think I will need to make them more durable, but for the time being they should surfice.  Once I have the encoders and the sensors mounted I will start some testing on the drive system and the PicAxe.

Some quick calculations to see what I get:

Assumptions: 

 Wheel Diameter (D)=50mm
 wheel Circumference (C)= D * 3.14 = 157mm
 Encoder Resolution (Res)= 16

 Distance Travelled Per between encoder Pulses =  C/Res = 9.81mm

So per encoder output pulse width = 4.9mm (~5mm) – Remember the encoder has a resolution of 16 (50% black and 50% white) therefore I need to divide by 50% to get the per pulse distance assuming a nice neat square wave.

I’ve also placed the encoders in the top cover, filed out some slots and hotglued to suit. 

 BuzzBot Encoder Template Buzzbot Wheel encoders Buzzbot Encoder Sensor Placement

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Author: Stephen Eaton

Geek at heart. Loves to tinker and find out how things work, which inevitably leads to items in pieces and not working for much longer :)

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