diff --git a/README.md b/README.md index c1fdb493ab25036062fe4bfebceafcebf7b0b967..393c8b400da7405216958df7a69f3407e0e1a5ab 100644 --- a/README.md +++ b/README.md @@ -4,12 +4,20 @@ ## HTMSTMAA Week 12 - 5/27/21 - +Getting to a state of a working encoder took some pretty abominable debugging/hacks (see video below), but the results are promising and I am excited to integrate it into a motor driver. + +[<img src="images/spinningIndicator.png" width="800">](https://gitlab.cba.mit.edu/davepreiss/ldcoder/-/blob/master/images/spinningIndicator.mp4)  +It's worth noting that the AMT encoder that I am using as a reference is rated to [0.25 deg of accuracy](https://www.cuidevices.com/product/resource/amt10.pdf). So we are definitely within the right order of magnitude for a comercial product. The spec is also ambiguous in that it doesn't specify a +/- +  + + +One big question I had was if EMF from the motor would manifest as noise at the sensor. + ## HTMSTMAA Week 11 - 5/20/21 I spent the majority of this week (and last) stuck in debugging world with the encoder peroject. I actually only got everything back up and running last night, so my documentation is a little rushed here. diff --git a/images/externalRejection.mp4 b/images/externalRejection.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..df51d16847e9c1d77880880689471c75f7d6a836 Binary files /dev/null and b/images/externalRejection.mp4 differ diff --git a/images/externalRejection.png b/images/externalRejection.png new file mode 100644 index 0000000000000000000000000000000000000000..fe5720ad0b77d8837e21108fad4ff43e8b567c80 Binary files /dev/null and b/images/externalRejection.png differ