You are using a rotary encoder to determine the distance a robot has traveled. The rotary encoder is directly connected to one of the wheels that has a diameter of 10cm. Assume the encoder has 16 lines/revolution and that both the rising and falling edges (2x mode) are detected. • What is the smallest detectable change of the rover traveling distance? • If you want the rover to travel 2 meters before making a turn. how many encoder counts (rise and fall) are needed before sending a turn command? • If you want to upgrade the encoder so that the smallest detectable distance change is ±0.20cm. what would be the required lines/revolution?
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