Wheel Encoder

A project log for Omnibotler

Updating an Omnibot 5402 to serve as a home automation hub and home "assistant"

jarredJarred 09/27/2015 at 21:330 Comments

I incorporated a simple wheel encoder the the left and right rear wheels using Hall effect sensors. Six 3D printed brackets holding small rare earth magnets were glued between the existing spokes of the left and right rear wheels, and a small bracket positioned the hall effect sensor in an ideal space. This system breaks each side wheel down to a six quadrant system and allows for more precise motor control. This is a minimally invasive solution to drive precision that allows for the use of existing original omnibot hardware.