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Re: Encoder wiring
I am not experienced with these encoders so I cannot help you that much. According to the documentation you would have to be able to count every time the voltage changes from 5V to 0V or vice versa (full rotation.) Rate if I am thinking correctly would be change in counts (since last count measurement) divided by time (since last count measurement) for this encoder not accounting for error. There is a thread dedicated to Speed based PID Control Loops if you search for it.
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