The wheel encoders will issue pulses in the 1000-4000 per second range. These pulses will be picked up by the gpio on the TS7200 and issued as interrupts. Appropriate device drivers need to be in place to receive these pulses and wake up the appropriate program thread as they happen to keep count of each encoder and to use that information for live positioning and speed regulation. Comments(0)
The motors on the stage 2 critter have a small shaft that moves at the pre-gear motor speed. A rotary encoder needs to be attached to that shaft and the output fed (probably through control circuitry) to the gpio pins to be detected as interrupts. Comments(0)
