View Single Post
  #4   Spotlight this post!  
Unread 09-11-2005, 18:49
Dave Scheck's Avatar
Dave Scheck Dave Scheck is offline
Registered User
FRC #0111 (WildStang)
Team Role: Engineer
 
Join Date: Feb 2003
Rookie Year: 2002
Location: Arlington Heights, IL
Posts: 574
Dave Scheck has a reputation beyond reputeDave Scheck has a reputation beyond reputeDave Scheck has a reputation beyond reputeDave Scheck has a reputation beyond reputeDave Scheck has a reputation beyond reputeDave Scheck has a reputation beyond reputeDave Scheck has a reputation beyond reputeDave Scheck has a reputation beyond reputeDave Scheck has a reputation beyond reputeDave Scheck has a reputation beyond reputeDave Scheck has a reputation beyond repute
Re: Why are four states needed with Quadratuer encoders?

Expanding on what Ken said, and using the encoder wheel he linked to (note that there are many different types of encoder wheels)....

Imagine that you have two sensors , A and B, that are placed on the radius of the encoder such that A is over the inner encoded band and B is over the outer. The way that the encoder wheel is laid out, if sampled properly, A and B will never change states at the same time.

Knowing this, the following table describes the valid state transitions. (assume 0 = dark and 1 = light)
Code:
Previous AB     Current AB
     00               01         - Counterclockwise               
     00               10         - Clockwise

     01               11         - Counterclockwise
     01               00         - Clockwise         

     11               10         - Counterclockwise              
     11               01         - Clockwise

     10               00         - Counterclockwise              
     10               11         - Clockwise
Transitions such as 00->11, 01->10, 10->01, 11->00 tell you that there was rotation, but you don't know which direction the rotation was.

So to answer your original question, you have 4 states because there are 4 states that your encoder is reporting.