Quote:
Originally Posted by topgun
How do you typically incorporate these encoders into your robot? gears, timing belts, etc? Pictures would help.
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Several different ways.
You just have to avoid side loads on the encoder shaft, so usually we use an L bracket to hold the encoder and a flexible coupler, e.g., a short segment of pneumatic tubing, as a coupler directly to a shaft, as if you were replacing the KOP encoder on an AndyMark gearbox.
We've also used a hardware shaft coupler available from McMaster and elsewhere.
Here's a
photo of a mount (from our 2004 robot) using plastic gears to couple to a drive train.
We've also used a sprocket w/ #25 chain on a special purpose turret. The sprocket has to be supported at both ends on a separate shaft, so the encoder doesn't carry any load.
Quote:
Originally Posted by Mk.32
Is there documentation on how to wire/program an Analog encoder such as an greyhill?
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The Grayhill model I mentioned is a digital input. (I went back and reworded a little to avoid that implication)
Here's an example of an
analog encoder with 10-bit resolution that's rated for 20,000 rpm. It is terribly expensive (but under the FRC $ limit), so I wouldn't recommend it. But it'll give you an idea of how simple the wiring and use is.
The wiring pinout is on page 12.