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DPRG: detector for encoder wheel

Subject: DPRG: detector for encoder wheel
From: Robert L. Jordan rljordan at airmail.net
Date: Fri Sep 24 16:31:44 CDT 1999

Brad and list,

Here is the Eagle PCB file for the Quadratured Encoder I made to support the June
Nuts & Volts  article. Robert Nansel did not provide a PCB or source.

It is EncodeQ.brd  and is about 1.2 by 2.2 inches with connectors and holes.

The circuit works well but I have not tested it much yet. That is the next step.Seems
the design may need some fine tuning of the 10K pullup resistor on the
IR LED so both reflective QRD1114 sensors work identiclly. Just match the 10K values
of the two resistors.

2. The encoder.PS software is pretty to figure out. Just openit with a text editor in
Windows. The printer works easiest if it it a postscript printer. Ghostscript is a
free download off of the web and worked once for me on a printer I borrowed.

I can not figure how to print the encoder.ps file on my HP 1100 Laserjet. I think did
it once by accident
If you find  andy clude, let me know.

The March competetion???. Do you mean Saturday October 23, 1999 12:00 - 2:00 at the
Scinece Place?
Good luck on the robot building. Keep it up!

Regards,
Robert Jordan



- --------------F1AAFF98C6727814C5F9E3FB
Content-Type: application/postscript; name="Encode~1.ps"
Content-Transfer-Encoding: 7bit
Content-Disposition: inline; filename="Encode~1.ps"

/inch {72 mul} def

%
% This file has several variations on printing encoder wheels. They
% all share the same basic arguments, which are the inside radius,
% outside radius, and the number of steps or resolution.

%
% Prints out an Encoder Wheel. Use like this
%
% <InsideRadius> <OutsideRadius> <Divisions> EncoderWheel
%
/EncoderWheel
{
	/WheelDiv exch def

	/WheelRadiusInside exch def

	/WheelRadiusOutside exch .002 add def

	/WheelAngleIncr 360 WheelDiv div def

	/WheelRadiusInsidePrime WheelRadiusInside WheelRadiusOutside div def

	gsave

	newpath
	1 setlinewidth

	%
	% Set the scale
	%
	WheelRadiusOutside WheelRadiusOutside scale

	%
	% Draw encoder marks. There will be 360 divided by 10 marks
	%

	0 1 WheelDiv
	{
		%
		% Rotate to correct
		%

		newpath
		0 0 WheelRadiusInsidePrime inch 0 WheelAngleIncr 2 div arc
		WheelAngleIncr rotate
		WheelAngleIncr -1 mul rotate
		0 0 1 inch  WheelAngleIncr 2 div 0 arcn
		fill
		stroke
		WheelAngleIncr rotate
		pop
	} for
	grestore
} def

%
% Prints a full encoder wheel using the given number of
% channels.
%
% <InsideRadius> <OutsideRadius> <Channels> ComplexWheel

/ComplexWheel
{
	/Channels exch def
	/OutsideSize exch def
	/InsideSize exch def
	/StepNumber 1.0 def
	/StepSize OutsideSize InsideSize sub Channels div def

	InsideSize StepSize OutsideSize StepSize sub
	{
	  dup StepSize add exch StepNumber EncoderWheel

	  /StepNumber StepNumber 2.0 mul def
	} for

} def

%
% Prints a Quadrature Encoder Wheel, with two channels
%
% <InsideRadius> <OutsideRadius> <Divisions> QuadratureWheel
%
/QuadratureWheel
{
	/Steps exch def
	/OutsideSize exch def
	/InsideSize exch def
	/StepNumber 1.0 def
	/StepSize OutsideSize InsideSize sub 2 div def

	InsideSize StepSize add InsideSize Steps EncoderWheel
	360 Steps div .25 mul rotate

	OutsideSize InsideSize StepSize add Steps EncoderWheel
} def

gsave

% Moves the wheel to the center of page
4.25 inch 4.25 inch translate

% Here is the quad wheel in the center
% 3 4 128 QuadratureWheel

% Here is the single encoder wheel in the middle
% 4.8 5 256 EncoderWheel

% Here is a complex wheel with 8 channels on a 2 inch diamter
0.5 2.0 8 ComplexWheel

grestore

showpage

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- --------------F1AAFF98C6727814C5F9E3FB
Content-Type: application/postscript; name="Rewheel.ps"
Content-Transfer-Encoding: 7bit
Content-Disposition: inline; filename="Rewheel.ps"



%	Postscript program to draw an encoder symbol.
%
/Wheel {	% define Wheel routine
			% Called:  X Y Radius number Encoder
	gsave	% save the graphics settings
	/num exch def	% remember the passed-in number
	/rad exch def	% remember the passed-in radius
	translate		% set graphics origin (Use X Y)
	/ang 360 num 2 mul div def
	0 ang 2 mul 360 {
		/I exch def	%for variable
		1 setgray 	% set color to be white
		newpath 0 0 moveto
		0 0 rad
		I
		dup ang add
		arc closepath fill	%  white arc
		0 setgray 		% set color to be black
		newpath 0 0 moveto
		0 0 rad
		I ang add
		dup ang add arc closepath fill %  black arc
		} for
	grestore
	} def

/Encoder {	%  X Y Radius Number
	/number exch def 		
	/radius exch def 		
	/Y exch def 		
	/X exch def 
	%
	% The hub is the white-space in the middle.  The 
	% number divided by gives ratio: encoder info to hub.
	/Hub number 2 div def
	gsave
	number  -1 0 {
		/K exch def	%for variable
		X Y
		K 1 add Hub add number 1 add Hub add div radius mul
		2 K exp Wheel
		} for
	0 setgray 		% set color to be black
	newpath
	X Y radius 0 360 arc stroke	%  black circle
	/R Hub number 1 add Hub add div radius mul def
	%
	% Draw white circle in the middle
	1 setgray 		% set color to be white
	newpath X Y R 0 360 arc closepath fill	%  white arc
	%
	% Draw cross-hairs in the circle
	0 setgray 		% set color to be black
	0 setlinewidth	% very thin line
	X R sub Y moveto
	X R add Y lineto stroke
	X Y R sub moveto
	X Y R add lineto stroke
	newpath X Y R 0 360 arc stroke	%  white arc
	grestore
	} def
%
%	Paper size is: 612 X  792
%	Draw a bunch of Encoders
150 650 35 2 Encoder 
317 650 50 4 Encoder 
485 650 60 5 Encoder 

150 650 35 2 Encoder
317 650 50 4 Encoder
485 650 60 5 Encoder 
150 475 70 1 Encoder
317 475 50 3 Encoder
485 475 60 8 Encoder



- --------------F1AAFF98C6727814C5F9E3FB--

------------------------------

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