The initial op amp was constructed to amplify the signal of the hall effect sensor. A gain of 21 was chose to provide over 800 analog input points to signficantly improve the resolution of the motor position. A second op amp, the differentiator, was used to serve as a velocity sensor for the motor by differentiating the position signal.
One problem we encountered was the grounding of the single rail op amp chip. A virtual ground had to be constructed in order for the chip to work. This was done through the implementation of two resistors.
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