Tt motor single-phase encoder speed measurement 1:48 DC gear motor code disc two-wheel self-balancing trolley M156

Product parameters:
Motor parameters
Rated voltage: 6V Working voltage: 3-7.4V
Rated current: 150mA Locked-rotor current: 1.5A
Rated speed: 20000RPM Deceleration ratio: 1:48 or 1:120
Rated torque: 1.5kgf.cm Locked-rotor torque: 2.5kgf.cm
Output shaft speed: 400RPM (1:48) or 167RPM (1:120)

Encoder parameters
Working voltage: 3.3-5V
Encoder line number: 13 lines (motor rotates one circle)
624 lines (1:48 output shaft)
1560 lines (1:120 output shaft)
AB-phase encoder: 90° quadrature encoder, can measure speed and direction, connect to STM32 encoder interface pulse can be quadrupled