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I am building a differential drive robot from an old powered wheelchair. The wheels are attached to the motor by a ~10:1 gearbox. I would like to add encoders to the motors. what kind of encoders should I use. I am running a full PC onboard. I have a chip kit max32 that I could use as an interface. What is the best way to add encoders. Is there a useful usb interface? What kind resolution should I look at. The motor drivers I am using do not have encoder feedback. Thanks for any feedback.


Originally posted by packrat on ROS Answers with karma: 51 on 2013-01-13

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Comment by packrat on 2013-01-13:
At full power the robot can move about town miles an hour. Is it typical to use a dedicated device just to read the encoders? A device like"http://www.robotshop.com/phidgets-phidgetencoder-highspeed-usb-4-input-2.html"

Comment by packrat on 2013-01-14:
My other question is, what hardware do you guys recommend. 200 CPR encoder connected to an arduino?

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The encoder resolution depends on ur system demands,i.e, how fast do u want ur robot to go. If u need excellent low speed characteristics, it's better to have high resolution encoders. From the situation u've explained, I suggest u can use an ARM development board with high speed IOs to read the pulses outputted by the encoders, and communicate with ur PC via serial port like RS232.


Originally posted by Kent with karma: 140 on 2013-01-13

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