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Figure Q5.1. Encoding wheel 그로 Disk Figure 05.2. Photo microsensor We are building a robot! An encoding wheel with 20 sl
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Figure Q5.1. Encoding wheel 그로 Disk Figure 05.2. Photo microsensor We are building a robot! An encoding wheel with 20 sl
Figure Q5.1. Encoding wheel 그로 Disk Figure 05.2. Photo microsensor We are building a robot! An encoding wheel with 20 slots is attached to the wheel of our robot. A photocoupler is positioned so that the notches in the encoding wheel let the light pass, and the spokes block the light. The photocoupler is interfaced to the microcontroller and is used to measure the RPM of the wheel. We want to use TPU1 to measure the pulse period 1. Find 3 appropriate options of pins to interface the photocoupler to. (6 marks) 2. Select one the three pins identified in 25. 1. and write the initialization function so you can measure the frequency of the photocoupler's pulses. Write any assumptions. (15 marks) 3. Write the code that converts the timer's returned value to RPM. Write any assumptions. (12 marks)
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