Lamprey2 Absolute Encoder
$34.00
This is the revolutionary Lamprey2 Absolute Encoder. It is a 12-bit absolute encoder specifically designed in collaboration with 221 Systems for the Swerve and Steer. It features a large hollow bor...Read More
Product Overview
This is the revolutionary Lamprey2 Absolute Encoder. It is a 12-bit absolute encoder specifically designed in collaboration with 221 Systems for the Swerve and Steer. 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 the mounting hardware used in the Swerve and Steer.
A note from Team 221: When using the sensor with a Talon SRX you must remove the Rx and Tx lines from your ribbon cable. For some reason the SRX will cause the Lamprey to reboot unpredictably when these lines are connected. We're investigating the cause but for now this is the best fix.
Pinout:
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:
| Pin 1: Gnd | Pin 2: 3.3-5v | Pin 5: Analog Out | Pin 3: PWM Out |
Molex pinout:
| Pin 1: Gnd | Pin 2: 3.3-5v | Pin 5: Analog Out | Pin 3: PWM Out |
10-pin IDC cable pinout:
| Pin 9: SCK | Pin 7: UART -Tx* | Pin 5: UART - Rx* | Pin 3: Analog Out* | Pin 1: Reset* |
| Pin 10: Ground | Pin 8: MOSI | Pin 6: PWM Out* | Pin 4: MISO | Pin 2: 5V DC In |
Advanced User Features
-Push and hold the button at start-up to erase any calibrations performed and restore factory defaults
-The sensor generates a UART stream that can be accessed via USB cable or directly with a 5v logic level micro like an Arduino Uno.
The UART stream defaults to floating point absolute position in degrees. You can change the outputs and other sensor features by sending the following commands into the sensor via a Serial terminal over USB.
d - output in degrees (default)
r - output in radians
a - verbose output showing several system variables
0 - Set zero point
f - Cycle through FIR filtering options
Specifications
- Connectors: USB, 4 pin 0.1" Headers, 5x2 Port, Molex PicoBlade 4 pin
- Voltage: 5V
- Output: 12-bit PWM: 1000uS-2000uS, UART, 5v
Documents
Returns
Returns are accepted within 30 days of purchase.
View our return policy here.
Recommendations
2 reviews
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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...
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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!
