THE ROBOT PROJECT

Tonight I pulled out the scopes and power supplies and analyzed the HEDS-5310 single-ended incremental encoders that are used on the extremities of the arm.  There are five wires: Vcc, GND, Chan A, Chan B and Chan I.  I was able to use my Saleae Logic 8 analyzer to confirm the output of the encoder so I know that they work and that I'll be able to process their output.