/challenges-projects/project14/attackofthedrones/b/blog/posts/alpha-rover---interruptedI&#39;d previously written about the poor performance of my AlphaBot Alpha Rover - Out of Control and how I was surprised that the wheel optical encoders had not been incorporated into the AlphaBot library. fmilburn had written a blog post about im...en-USTelligent Community 12https://community.element14.com/challenges-projects/project14/attackofthedrones/b/blog/posts/alpha-rover---interruptedSat, 24 Apr 2021 20:02:58 GMT93d5dcb4-84c2-446f-b2cb-99731719e767:2c0e91f3-758b-410f-a7c3-8f89fe3e6ae8DAB0<p>Nice job of identifying the problems.</p><p>&nbsp;</p><p>DAB</p><img src="https://community.element14.com/aggbug?PostID=11194&AppID=289&AppType=Weblog&ContentType=0" width="1" height="1">https://community.element14.com/challenges-projects/project14/attackofthedrones/b/blog/posts/alpha-rover---interruptedSat, 24 Apr 2021 04:55:35 GMT93d5dcb4-84c2-446f-b2cb-99731719e767:2c0e91f3-758b-410f-a7c3-8f89fe3e6ae8fmilburn0<p>That is too bad - but interesting too.&nbsp; Hope you get it fixed soon.&nbsp; I set up my DIY encoders with the opto-interrupter output going straight to the interrupt pins on the microcontroller.&nbsp; I can see how it might be better to have something in between to clean up the signal but so far no problems.&nbsp; I have been working on it this week on the bench with a power supply and made a new motor control board.&nbsp; With PID both motors can be controlled to less than 1% of the set point, probably 0.5 % without a problem but it is slower than desired to settle.&nbsp; I should be able to get it going with batteries this weekend, see how well it runs on the ground, and write something up.</p><img src="https://community.element14.com/aggbug?PostID=11194&AppID=289&AppType=Weblog&ContentType=0" width="1" height="1">