[chbot] Odometry

Carl Ranson chchrobotics@lists.linuxnut.co.nz
Wed, 01 Nov 2006 21:27:57 +1300


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Christopher Sawtell wrote:

>On Tuesday 31 October 2006 21:56, Carl Ranson wrote:
>  
>
>>I'd like to modify my base to correct for the slight differences in the
>>motors and thought that odometry might be the way to do it.
>>
>>Anyone had experience with through hole type encoders (where the shaft
>>goes through the encoder)?
>>    
>>
>Do you mean something like one of these?
>http://en.wikipedia.org/wiki/Gray_code
>
>Or were you thinking of something similar to the mechanism in an oldfashioned 
>( ball ) mouse?
>  
>

I was thinking about the industrial type like these 
http://www.servotek.com/ST38.html
which have an encoder much like a pc mouse on the inside 
http://www.usdigital.com/products/e3/index.shtml

These can go over the output shaft and encode a lot of pulses per 
revolution.

The motors im using are a single large worm gear and don't have easy 
access to the fast axle.
I've just popped the cover off the back though, I might be able to put a 
reflective encoder wheel on and put a window in the cover to measure through

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