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How to use hall sensor with a brushed dc motor

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Hi,

I have a question regarding how I can use the Hall effect sensor with a brushed dc motor to measure vertical distance? I'm using MSP430F5529 microcontroller and have tested the pwm. I will be using one latched hall sensor. The tip of the screw that is attached to the motor will have 4 magnets where 2 of the magnets will send a high signal and 2 will send a low signal. How will I be able to measure the count from the hall sensor so that I can signal mso430 to stop at a particular distance?

 

P.S I will be using C programming for this project and will try to implement PI controller after I figure this out.

 

Thank You


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