💿 Optical Quadrature Encoder: Slots, Run-Out, Sampling Rate and Speed Estimation Methods (2D disk and scope)

Slotted encoder disk with two photodiodes and a scope of the analog and digital A/B channels. Set the slots per turn, shaft speed, disk run-out, noise, decoder sampling rate, speed gate and timer clock, and see counts per turn, position error, missed transitions when sampling is too slow, swapped-channel and dust faults, and how count-based and period-based speed estimates compare. Uses the 3D page's channel and decoder model, with four in-page numerical checks.