The wheel encoder is a sensor attached to the motor to sense the number of rotations of the wheel. If we know the number of rotations, we can compute the velocity and displacement of the wheel.
For this robot, we have chosen a motor with an in-built encoder. This encoder is a quadrature type, which can sense both the direction and speed of the motor. Encoders use different types of sensors, such as optical and hall sensors, to detect these parameters. This encoder uses the hall effect to sense the rotation. The quadrature encoder has two channels, namely Channel A and Channel B. Each channel will generate digital signals with a 90-degree phase shift. The following diagram shows the wave form of a typical quadrature encoder:
If the motor rotates in a clockwise direction, Channel A will lead Channel...