The WW-11 WheelWatcher incremental encoder system enables robot builders to
quickly add closed-loop control to their robots. The WW-11 provides standard ChA
/ ChB raw quadrature outputs (90 degree phase shift between channels), decoded
clock and direction signals, or serial output of position and velocity.
The clock signal toggles at each transition of ChA or ChB, providing a 4x
increase in resolution compared to the number of stripe at 128 clocks per servo
rotation - while the direction signal indicates the decoded direction of
rotation, making it very easy to add to any microcontroller.
The new serial output mode does all the hard work for you - it keeps track of
and reports current position (a signed 32 bit integer) and also measures and
reports current velocity in encoder ticks per second. Serial data is output only
when encoder ticks occur, up to a rate of 100 updates per second at 38400 baud.
All dimensions are in inches and approximate unless otherwise specified.
This quadrature encoder works with our micro metal gearmotors, 42×19mm wheel, and extended bracket to
measure the rotation speed and direction of the wheel. With twelve teeth on the
wheel, the system provides a resolution of 48 counts per revolution, which
corresponds to a linear resolution of just under 3 mm or 1/8".