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.
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