光电编码器计数功能，光电编码器输出为一组差分信号-Photoelectric encoder counting function, photoelectric encoder output is a set of differential signal

虚拟示波器，三轮智能车，电磁后轮差速，采用两路AD采集，编码器采集电机闭环(Virtual oscilloscope, three wheeled smart car, electromagnetic rear wheel differential speed, two AD acquisition, encoder acquisition motor closed loop.)