https://wiki.bespokerobotsociety.org/index.php?action=history&feed=atom&title=Capability%3AEncoder_SensingCapability:Encoder Sensing - Revision history2026-04-25T11:24:13ZRevision history for this page on the wikiMediaWiki 1.43.5https://wiki.bespokerobotsociety.org/index.php?title=Capability:Encoder_Sensing&diff=22&oldid=prevJohn: Claude edited based on my notes, prompt, and SimpleBot code repository2025-10-11T16:14:43Z<p>Claude edited based on my notes, prompt, and SimpleBot code repository</p>
<p><b>New page</b></p><div>{{Capability<br />
| name = Encoder Sensing<br />
| type = Sensing<br />
| measures = Shaft rotation (pulses per revolution)<br />
| hardware = Hall effect encoders, magnetic encoders, pre-integrated motor encoders<br />
| enables = [[Activity:Dead Reckoning Navigation]], precise speed control, position control<br />
| status = '''Stub''' - Not yet implemented in BRS robots<br />
}}<br />
<br />
'''Encoder Sensing''' is a sensing capability that measures motor shaft rotation using magnetic or optical detection.<br />
<br />
== Overview ==<br />
<br />
'''This is a stub page.''' This capability is not yet implemented in any BRS robot. This page exists to:<br />
* Document the concept for future implementation<br />
* Invite community members to add it to their robots<br />
* Provide a starting point for hardware selection<br />
<br />
== What It Measures ==<br />
<br />
Shaft rotation (pulses per revolution)<br />
<br />
== Common Hardware ==<br />
<br />
Hall effect encoders, magnetic encoders, pre-integrated motor encoders<br />
<br />
== Enables Activities ==<br />
<br />
Adding this capability to your robot would enable:<br />
<br />
* [[Activity:Dead Reckoning Navigation]]<br />
<br />
== Technical Considerations ==<br />
<br />
* **Advantages**: More accurate than wheel-based optical odometry, integrated into motor, no external mounting<br />
* **Disadvantages**: Still subject to wheel slip, requires encoder-compatible motors<br />
* **Typical cost**: $5-15 per motor with encoder<br />
* **Interface**: Digital pulse (quadrature encoding)<br />
* **Resolution**: 12-2048 pulses per revolution typical<br />
* **Note**: Different from SimpleBot's optical odometry (which uses slotted wheels)<br />
<br />
== Contributing ==<br />
<br />
Want to add this capability to your robot? Here's how:<br />
<br />
# Select appropriate hardware (see "Common Hardware" above)<br />
# Mount the hardware to your robot chassis<br />
# Wire to your microcontroller<br />
# Write driver code or use existing libraries<br />
# Test and calibrate<br />
# Document your implementation<br />
# Update this page with your findings<br />
# Share on [[Discord]]<br />
<br />
== See Also ==<br />
<br />
* [[Capabilities]] - All capabilities<br />
* [[Activities]] - What this capability enables<br />
* [[Robotics Ontology]] - How capabilities fit into BRS knowledge structure<br />
<br />
[[Category:Capability]]<br />
[[Category:Sensing Capability]]<br />
[[Category:Stub]]</div>John