# Unit 6 - Shaft Encoders

## Unit Objectives

This unit goes in depth into the purpose and function of the shaft encoder. In addition it introduces the concept of a while loop and how it can be used to program shaft encoders to have your robot travel a desired distance.

## Unit Teacher Notes

### Lesson 6.1 (420 minutes)

This lessons provides a basic understanding of how to program a shaft encoder using while loops and booleen logic. Students also learn how to calculate tick distance based on their drivetrain geometry.

#### Outcomes

• Describe Programming concepts and the forms of applied logic. Students will be able to
• Describe the role of decision making in robotics
• Describe Boolean logic, its operations and laws, as used in robotics
• Translate data specifications into truth tables and extract logical expressions
• Explain the three parts of a while loop
• Be able to explain the purpose of an optical quad encoder
• Explain how an optical quad encoder operates shaft encoders to control robot behavior.
• Demonstrate the function of a optical encoder through various activities
• Write code for performing actions within a code segment using while loops for as long as a given condition exists.
• Write code using calculated distance values that evaluates sensor data to provide feedback control.

### Lesson 6.2 (120 minutes)

This lessons spends some time reviewing the concepts of the shaft encoder and allowing the students to create their own quiz questions related to the lesson.

#### Outcomes

• Identify the three primary parts of a while loop
• Explain the purpose and function of a shaft encoder and it’s role in programming

### Quiz (30-60 minutes)

Quiz on the unit

#### Outcomes

• Check for Understanding