🚀 go-pugleaf

In article <1993Jan22.221233.650@isrc.sandia.gov> bryan@isrc.sandia.gov (Jon R Bryan) writes:
>ska@hercules.acpub.duke.edu writes:
>: Each motor has a built-in "AB quadrature output and zero index channel" 
>: type optical encoder.  These encoders output voltages in the range 0.5 to 
>: 6 V DC via 4 leads - A, B, I, and ground.
>: 
>: Now, how can I use the voltages from the encoders to compute joint positions ?
>
>Get the Monolithic Memories "PAL/PLE Device Programmable Logic Array
>Handbook."  There are three shaft encoder designs that will explain
>quadrature decoding to you (if you can decipher the PALASM code).
>

or get the Hewlett Packard Opto Electronics databook for a couple
of single chip solutions. Or get the Oak-Grigsby optical encoder/
switch booklet for a couple of examples using simple gates.

Write me if you want more details, I can look it up Monday.

John
 


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