Robotics Wheel Encoder Schematic

Updated 7/15/2004

 Here are the schematic diagram and several file formats for the actual encoder disk used in our design for your own adaptation. The QRB1114 is perfect for the robotics applications because of its blocking of the visual wavelengths and good sensitivity, along with its unique slide adjustablity.

Click Thumbnails for a much larger image !

 The QRB1114 is available from, and is inexpensive for what it does. The Transistor and LED shown here are integral to the device, with pin numbers shown.

 Here is a good sized JPG image of the encoder disk, with 10 degree black to white transitions. You can print this out and resize it to what you need. Mine is about 2 inches in diameter. I also have the original dwg file in Autocad here.



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