Week 4: Wheel Encoders

I created wheel encoders using QRD sensors and black and white striped rings on the wheels. I designed a software algorithm to count every time the sensors detected a black then white surface. To prevent the software algorithm to increment from noise, I made a high and low threshold similar to an inverter with hysteresis. This algorithm was used to measure distance during tape following, and to travel set distances and turn 90 degrees.