Magnetic Rotary EncoderThe magnetic rotatary encoders have the potention to offer a incomparable control loop. Due the elotromagnetic properties, and the capability to independantly mount the sensor above the magnet. A sesnor such as this can be incorperated into various places on the robot for multipul purposes.

The ÜberBots incorperated two magnetic rotary encoders in order to have realtime control and feedback on the robots steering. These magnetic sensors chips are on a frame independent to the drive shaft. Therefore, the sensors can be easily monitored, managed, and any other hardware failure would not compromise the magnetic encoders readings. In addition, a magnet was mounted on the extruding drive shaft, paired with each chip and offset, apromimently 5mm above the drive shaft, these sensors provide feedback on the gearbox that is responsible for rotating each pairing of wheels.

While designing and prototyping this system of drive, we learned many valuable lessons about voltage based sensors. After first implemenation of the sensors we discovers discovered that there was a distinct point of rotation where the voltage jumped from 5 to 0. This point is where the rotary encoder crossed the poles on the magnet. As show in the graph below, at an almost unpredicable point, where the magnetic poles on the magnet are crossed, the voltage reading will instantly jump from 5 to 0.

Analogue Sensor Voltage Reading

Degree of Rotation

This rapid jump from 5 to 0, in a unpredictable location was a servere disadvatage and greatly limited the functionality of the system. Instances where the control loop was attempting to reach a voltage of 2 from the current voltage of 2.5 would rotate 180 degrees and then jump to another line. The drastic jump, greatly reduces the lineararity of the readings. As a result, the control loop may lose track of the system because of rapidly changing non-linear feed back readings.

This vital problem was solved by a software based normalizer. This normalizer was intended to manipulate the encoder readings in order to acquire linear feedback readings. To successfully complete this task, we needed to find the crossover points on the rotary encoder. In order to calulate the angle at which the voltage crossed over, the sensor was manually moved in order to find the proper orientation of north and south on the magnet. Then, to determine where the cross over point was, the angle of rotation was calculated by muliplying the voltage by 72 or the rangle of rotation divided by the range of voltage readings. Once calculated a unique algarithm was implemented to linearize the graph. This is shown in the graph below.

0 72 144 216 288 3600123456

Normalized Relationship Beteen Angle of Rotation and Voltage Reading

Voltage

Degrees Of Rotation

Volta

ge

Hardware Limit

Hardware Limit

After further development and tuning, the encoders were independently normalized and rotated in order to implement a hardware limit on the system. The result can be seen to the right. The shifted voltage readings are now the same on all encoders. Also, because of the location of the CIM motor on the gearbox the cross over point is now located at an unreachable degree. At this point the CIM will contact the chassis preventing any more rotation in that direction. This facilitates modular and easily repaired code.