View source for Encoders (Slot, Rotary, Linear)

{{Template:Infobox_Generic
| Name                                        = Encoders (Slot, Rotary, Linear)
| Image                                       = Encoder.jpg
| SensorType                                  = light emitting, light decoding
| ProcessorType                               = 
| Frequency                                   = 
| Language                                    = 
| OS                                          = 
| IOPins                                      = 
| TypicalVoltage                              = 
| TypicalCurrent                              = 
| MaxVoltage                                  = 
| MaxCurrent                                  = 
| Protocols                                   = I2C, PWM
| Range                                       =
| Cost                                        = $29.99
| Website                                     = 
| Student                                     = Therdo Leguisamon
}}


The encoder is a sensor attached to a rotating object to measure rotation. By measuring rotation your robot can do things such as determine displacement, velocity, acceleration, or the angle of a rotating sensor. 

== History of Device ==

A patent search reveals that DAVID V. CRONIN received a patent on an Electro-optical encoder having transmission variation compensation in 1968. (He invented it at least 4 years earlier since the filing date was in 1964.) 

== Purpose of the Device ==

To determine displacement, velocity, acceleration, or the angle of an object by measuring rotation.
It also helps with applications such as navigation and mapping.

== Physical Implementation and Design ==

An encoder can be as simple as an IR LED shining onto a photodiode through a transparent disk with a pattern printed on it. More advanced incoders use Magnetism or conduction.

== Applications for the Device ==

Encoders can be used whenever one needs to determine displacement, velocity, acceleration, or the angle of an object by measuring rotation.

== Schematics to use the Device ==

The following schematic shows how a rotary encoder can be wired up to an arduino pro mini with an H-bridge and a motor to keep track of a wheels rotation.

[[File:EncoderDiagram.png|600px]]

== Code to Control the Device ==

Below is the code needed to implement the encoder, H-bridge DC motor. 


[[File:EncoderCode1.png|600px]]
[[File:EncoderCode2.png|600px]]


== Video of the Device on Operation ==

https://www.youtube.com/watch?v=v4BbSzJ-hz4&t=3s

== Different Version of the Device ==


{| class="wikitable"
!Version Name!! Average Cost
|-
|Slot Encoder || $4
|-
|Rotary Encoder || $4-$200
|-
|Linear Encoder || $80-$1,000
|-

|}


== Where to Purchase Device ==

In this section the student should provide multiple sources to purchase the device. Common websites for purchasing electronic components are Jameco, Amazon, DigiKey, RobotShop, etc. Please include the information in table form as the example is given below:

{| class="wikitable"
!Device Name/Version!!Website!!Price !! Notes !! Direct Link to Product Page
|-
|Arduino Uno R3 DIP Edition || [http://www.jameco.com Jameco] || $32.95 || Out of Stock || [http://www.jameco.com/webapp/wcs/stores/servlet/Product_10001_10001_2151486_-1 Click here to purchase]
|-
|Arduino UNO R3 board with DIP ATmega328P || [http://www.amazon.com Amazon] || $24.02 || Ready to Ship || [http://amzn.com/B006H06TVG Click here to purchase]
|-
|Arduino Uno USB Microcontroller Rev 3 || [http://www.amazon.com Robot Shop] || $24.95 || Not Original || [http://www.robotshop.com/en/arduino-uno-usb-microcontroller-rev-3.html Click here to purchase]
|-

|}


== References ==

{{Reflist}}