Let's build and explore how encoders work. We made three types of encoders. The incremental encoder measures the number of rotations a device completes. The quadrature encoder tracks rotations and direction. The absolute encoder can tell what degree the device is at.

You might need to paint your encoder if the IR signal is transmitted through your print.

How encoders work: https://youtu.be/j8rG3bjqriI General overview of our build: https://youtu.be/LjY1PSd8w2E

You should try altering the encoders to have more steps and layers (bits), which will increase your accuracy.

The code for these encoders can be found on our GitHub https://github.com/SciJoy/Encoder_Physics_Position.

We used Adafruit break beam sensors along with these printed encoders (https://www.adafruit.com/products/2167).

We used OpenBeam, but it is by no means required for this project. We created mounts for the break beam transmitters and receivers. We glued these sensors on and then screwed them on the OpenBeam. We also make motor mounts that attached to our OpenBeam structure.

We'd love to see what you do with these encoders. You can send us messages on Twitter or Tumblr.

Keep exploring.