Rotary Encoder Disks with Matplotlib

Did you ever needed a quick way to make your own rotary encoder disks?

Here a quick way to make the graphics. Afterwards only a printer and scissors are necessary.

First import the packages numpy and matplotlib

import matplotlib.pylab as plt
import numpy as np

And now define the outer and inner diameter as well as the number of lines:

di = 300.e-3# inner diameter
da = 340.e-3 # outer diameter
lpr = 720. # lines per 360°

And here comes the rest:

fig, ax = plt.subplots(1,1, subplot_kw=dict(polar=True))
theta = np.linspace(0.,2*np.pi,lpr+1)
radii=np.empty(lpr+1); radii.fill((da-di)/2)
dis=np.empty(lpr+1); dis.fill(di/2), radii, width=np.radians(360/(2*lpr)), bottom=dis,
           color='black', edgecolor = 'none', linewidth  = 0.)

It is a polar plot with bars, separeted from inner diameter to outer diameter. Important is to suppress any lines which disturb your signals (suppress tick and labels).

And here is an example output:

Rotary Encoder Disk
Rotary Encoder Disk

Only thing what’s left is to print and build.

Install Anaconda and IPython (notebook) in Ubuntu

Sometimes it is either hard to remember or there are many way to fulfill a certain goal. During my (re-)setup of my laptop with Ubuntu 12.04 I had to install IPython with its notebook capabilities.

The first step is to download the recent anaconda package from:
Either the 32 or 64 bit version. Next make it executable either by right click on the downloaded file and choose „Properties“ then the tab „Permissions“ or with an editor

sudo chmod +x


Next start the installation by typing


. Choose the recommended options. (Be careful not to hit the enter key to often at beginning otherwise it kicks you out.)

This installs the necessary files, but we need to add the directory to the PATH. Therefore we change the the profile configuration by

gedit ~/.profile

and change the line




. Afterwards only safe the file. EDIT: It is also possible to restart or logout / login to update the PATH.

Next -but not strictly necessary- it is always favorable to update the existing files. To do this we can use the anaconda built in conda repository management system.

conda update ipython

Now you’re read to start the IPython notebook everywhere (although it is recommended to start it always from the same directory, otherwise it isn’t possible to open the old files directly with the notebook manager).

 ipython notebook