Encoder circuit for servos

  
Inside:
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Remember that the circuit will fit tightly, so you will not have to glue it. Try several times to put it inside. Modify it bit by bit, and when it enters with a little effort but does not move you have the right size. put the whole circuit inside the servo, trying to adapt it just to let it fit while pushing out the sensors on their holes (they must not coming out of the plastic
Encoder circuit for servos - schematic

but be as close as possible to the edge) Cutting the holes is not a 5 minute thing. For me it was the most challenging task. You need to align them correctly and try several times to put sensors in. They must remain locked without glue, so you can get the circuit out of the servo. Turn the first gear until both sensors "see" black. Gently turn clockwise until the LEDs turn off. Try to turn the first gear and let one sensor see white. Does the LED light up If the answer is yes, it is okay. Move on the other sensor and repeat. Try to move the wheel; do the LEDs turns on and off like a quadrature encoder`s signal When you are done, remember to solder two wires to the motor before closing the case. You should use a H-bridge from now on, but just for testing you could connect the electronic board that was inside the servo to the motor using the original circuit. Yes, it is not easy, but I think that it is worth the effort. The next step will be a board that will process quadrature encoders’ signals in hardware and possibly P5587 sensors.



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