diff --git a/encoders/ENCODERS.md b/encoders/ENCODERS.md index 10f0f9a..d760901 100644 --- a/encoders/ENCODERS.md +++ b/encoders/ENCODERS.md @@ -304,6 +304,8 @@ alternative is to use two d-type flip-flops on each channel, clocked using a signal from the host. Typically this might be produced by a PWM channel running continuously. Clock rate depends on the expected worst-case interrupt latency. -This [Wikipedia image](https://en.wikipedia.org/wiki/Incremental_encoder#/media/File:2FF_synchronizer.gif) -illustrates the idea, along with the metastability problem. +This Wikipedia image illustrates the idea, along with the metastability problem +discussed in [the article](https://en.wikipedia.org/wiki/Incremental_encoder). +![Image](./synchroniser.png) +By Lambtron - Own work, CC BY-SA 4.0, https://commons.wikimedia.org/w/index.php?curid=86059204 diff --git a/encoders/synchroniser.png b/encoders/synchroniser.png new file mode 100644 index 0000000..72e576a Binary files /dev/null and b/encoders/synchroniser.png differ