A clear walkthrough of quadrature encoder signals: the A and B channels, the 90 degree phase offset, direction decoding, counts vs CPR, and the wiring basics for reliable closed-loop motor control.
Encoders in Robotics
How robots use encoders in practice: straight-line tracking and odometry on wheeled robots, joint position feedback and inverse kinematics on robotic arms, plus how a motor controller turns encoder counts into closed-loop control.
RoboClaw Encoders and the A-Star LCD
Read encoder counts from a RoboClaw motor controller with a Pololu A-Star 32U4 Prime and display them on its LCD. Covers wiring, Motion Studio setup, and a complete Basicmicro Arduino sketch.
Understanding Acceleration and Deceleration Values
The acceleration and deceleration values used in Motion Studio and the software libraries can be understood as raw values, percentages, and time. This guide explains the two unit systems, duty units per second for duty commands and QPPS per second for speed commands, and how to convert between the different views.
Velocity and Position Error Limits
The RoboClaw and MCP motor controllers have a new safety feature based around errors in the PID system. This application note takes a look at what it is and how to use it.
Auto Tuning with Motion Studio
In systems with a PID controller, the proportional, integral, and derivative values must be set properly for the controller to work well. Motion Studio can tune these values automatically for a motor and encoder combination. This guide covers auto tuning velocity and position control and fine tuning the results.
Using Encoders with the Arduino Library
This application note covers using the Basicmicro Arduino library to read, set, and reset the encoders attached to a RoboClaw motor controller, with a complete example sketch demonstrating every encoder function.
Using Encoders with the Python Library
This application note covers using the Basicmicro Python library to read, set, and reset the encoders attached to a RoboClaw motor controller from a Raspberry Pi 3, 4, 5, or Zero, with pip install instructions and a complete example script.
Pololu Encoder Wiring
Encoders allow the RoboClaw to provide accurate and consistent speed and position control of motors. In this Application Note we’ll be wiring a common motor and encoder combination to the RoboClaw.
Encoders Explained
Encoders give motor controllers the feedback needed for closed-loop speed and position control. Learn how incremental (quadrature) and absolute encoders work, how they differ, and which to choose for your project.