Programming instructions

Reference
Project Lead The Way © and Carnegie Mellon Robotics Academy © / For use with VEX
®
Robotics Systems
Shaft Encoders • 1
Shaft Encoders Overview
The Quadrature Shaft Encoder detects the rotation of an axle that passes through
it. It has a resolution of 360 counts per revolution (2 count intervals), and can
distinguish between clockwise and counterclockwise rotation.
The Quadrature Shaft Encoder is an upgrade from the original Shaft Encoder. The original version
contains only one internal sensor, which detects the slits in an internal disc as it spins, giving it a
resolution of 90 counts per revolution. Only one output channel (wire) is needed to transmit the
sensor data to the Vex Microcontroller.
The upgraded Quadrature
Shaft Encoder includes
a second optical sensor
which allows the sensor
to detect if the internal
disk is spinning clockwise
or counterclockwise and
increases the resolution to
360 counts per revolution
(2 count intervals). Two
output channels (wires)
are needed to transmit its
sensor data to the Vex.
Original Shaft Encoder
Only has one output wire.
Quadrature Shaft Encoder
Has two output wires.
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