3 ms·
I don't understand how it has a final resolution of 96 steps if the hardware has 24 steps.
by joshmarinacci 3y ago
I don't understand how it has a final resolution of 96 steps if the hardware has 24 steps.
- HeyLaughingBoy 3y agoThat's where the word "quadrature" comes in. The encoder has 4 states for each cycle.
- tanseydavid 3y agoI had the same question. Following the wikipedia link from the README: https://en.wikipedia.org/wiki/Incremental_encoder https://en.wikipedia.org/wiki/Incremental_encoder helped me develop a little bit of understanding and it confirmed my suspicion about 96 = 24 positions * (2 output pins / 4 states). Asking an LLM next, provided this sentence: "Resolution Increase: By detecting both the rising and falling edges of both channels' signals, you effectively multiply the basic steps per turn. Each step in one channel can be subdivided into four phases (A rising, B rising, A falling, B falling), which leads to the increased resolution. Here’s the math: 24 steps * 4 (due to the four phases per step in quadrature encoding) = 96 steps per turn."
- JKCalhoun 3y agoIf the encoder is like a wheel with 24 "teeth" a single LED/detector could tell you when it became blocked, when it became unblocked (by a tooth). There's 48 states already. You put another LED/detector just a half-tooth out of phase with the first detector and you not only doubled the resolution, but you can tell direction as well.