This is the revolutionary Lamprey2 Absolute Encoder. It is a 10-bit absolute encoder specifically designed in collaboration with 221 Systems. It features a large hollow bore and is great for swerve drive steering, arm joints, or anywhere you need to directly measure your output without being at the shaft end.
It features a custom PCB with the sensor elements and a custom ring magnet to use as a sensor target. The ring magnet is designed to pilot on the flange of any of our 1.125" OD bearings. To install the magnet, glue it to any rotating surface or 3D print a custom hub. The magnet can be sensed from either side of the board.
The interface and included cable use a 0.05 in. 2x5 pin header and IDC cable. This lets you plug directly into a Talon SRX or Spark MAX speed controller This new version also features a 4 pin PWM style header and a Molex picoblade connector for more interface options.
The encoder can be acquired as encoder-only, magnet only, or a bundle which contains the encoder, the magnet, the 10 pin SRX data cable, and mounting hardware.
The Lamprey has 4 interface options, USB, a 4 pin PWM style header, a 4 pin Molex picoblade connector, and a 10-pin IDC cable arranged in a 5x2.
4 pin PWM style pinout:
- Connectors: USB, 4 pin 0.1" Headers, 5x2 Port, Molex PicoBlade 4 pin
- Voltage: 5V
- Output: 10-bit PWM: 1000uS-2000uS, UART, 5v
A solid upgrade from Lamprey1
The lamprey2 encoder is a great upgrade to the original AM-4180 Lamprey. It resolves the "must cut wire when using with Talon" issue by using solder jumpers (unconnected by default). With Lamprey1, there was an issue that occurred occasionally where it would lose calibration at powerup due to a floating TTL, which has also been solved. We ran the entire 2022-23 season with these and had no issues. The form factor is excellent for our swerve system. Get extra magnets because they are fragile. Protect them from robot barf or bad things happen to your sensors. I will continue using these for many years. Also, reaching AJ on CD is easy if there are issues. There is a 4in variant coming soon (already produced).
You MUST cut wires
We have used AM swerves for 4 years with MA3 absolute encoders. These are analog output devices. (essentially a brushless potentiometer) When you plug a lamprey directly into a Talon SRX you MUST cut wire 5 and 7 as noted above (follow the link) otherwise the calibration will randomly reset. Line 1 has a red stripe, you only need line 2, 3 and 10 if you are using these as analog output sensors. I'm a little disappointed this hasn't been fixed by now since it was identified in 2020. Oh yeah, pandemic years...
Seems to be a great solution for measuring rotation on through shafts
We are using this for what most probably are, measuring rotation on a swerve module. The magnets are a little more brittle that expected, we broke one in half on a light press fit and had to order another to replace it. Glad we are close enough for 1-2 day shipping. Thanks!