Unlike the older rotation sensor, because the motor is directly coupled to the encoder wheel, direction is automatically handled, as the NXT always knows which way it is driving the motor based on the programming done in the software. The sensor picks this up and passes the information to the NXT for processing. As the motor spins, the encoder rotates and causes light to alternate through a series of on/off states. A beam of light is generated from the optical sensor (the gray square box covering the encoder wheel) on one side of the encoder wheel and shines through to the other, which falls upon a photocell.
HiTechnic Robot Swing for Mindstorms NXT-GThe HiTechnic Robot Swing download contains building instructions and an NXT-G program to build an NXT robot that swings back and forward like a playground swing. The wheel has a number of holes in it which allow the optical sensor to detect on/off states as it spins. Description Version Release Date Size HiTechnic RotaBot NXT-G Programs for LMS 2.0 1.0 November 21st, 2011 3.12 MB. The encoder wheel (the black wheel to the right) is driven directly off the motor. Figure 4.12 shows the motor and encoder components cut away from the rest of the motor. His site (see Appendix A) provides detail on this. One of the first things Philippe Hurbain (Philo) did when he got his NXT set was to dismantle the servo motors to have a look under the hood. JennToo Radar The JennToo Radar is an improvement of the Tribot Radar made for robot. The NXT motor encoder detects movement similar to the way an older computer mouse (with the ball) works.
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