Bitbeam - Shaft Encoder Wheel

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Bitbeam is a LEGO Technic-compatible 3D printable construction system; discover more at http://bitbeam.org. Utilize this shaft encoder wheel to measure rotations while also employing an LED and phototransistor. Shaft encoders are particularly beneficial when using DC motors for motion since these motors, though economical and great for small robot movement, lack built-in feedback mechanisms for precision control. For guidance on shaft encoder usage in your projects, refer to Fred Martin's "Robotic Explorations" book. In the download, you'll find both printable STL files and original OpenSCAD source code. If using infrared LEDs and phototransistors, ensure printing in black or other dark colors, as I discovered through experimentation that encoder sensing didn't work with light-colored ABS printed wheels.