{"id":4220,"date":"2019-06-20T19:51:02","date_gmt":"2019-06-20T19:51:02","guid":{"rendered":"http:\/\/fambach.net\/?p=4220"},"modified":"2022-01-16T11:08:40","modified_gmt":"2022-01-16T11:08:40","slug":"motorencoder","status":"publish","type":"post","link":"https:\/\/www.fambach.net\/en\/motorencoder\/","title":{"rendered":"Motor with Hall sensor"},"content":{"rendered":"<div id=\"ez-toc-container\" class=\"ez-toc-v2_0_85 ez-toc-wrap-left counter-hierarchy ez-toc-counter ez-toc-grey ez-toc-container-direction\">\n<div class=\"ez-toc-title-container\">\n<span class=\"ez-toc-title-toggle\"><a href=\"#\" class=\"ez-toc-pull-right ez-toc-btn ez-toc-btn-xs ez-toc-btn-default ez-toc-toggle\" aria-label=\"Toggle Table of Contents\"><span class=\"ez-toc-js-icon-con\"><span class=\"\"><span class=\"eztoc-hide\" style=\"display:none;\">Toggle<\/span><span class=\"ez-toc-icon-toggle-span\"><svg style=\"fill: #999;color:#999\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" class=\"list-377408\" width=\"20px\" height=\"20px\" viewbox=\"0 0 24 24\" fill=\"none\"><path d=\"M6 6H4v2h2V6zm14 0H8v2h12V6zM4 11h2v2H4v-2zm16 0H8v2h12v-2zM4 16h2v2H4v-2zm16 0H8v2h12v-2z\" fill=\"currentColor\"><\/path><\/svg><svg style=\"fill: #999;color:#999\" class=\"arrow-unsorted-368013\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"10px\" height=\"10px\" viewbox=\"0 0 24 24\" version=\"1.2\" baseprofile=\"tiny\"><path d=\"M18.2 9.3l-6.2-6.3-6.2 6.3c-.2.2-.3.4-.3.7s.1.5.3.7c.2.2.4.3.7.3h11c.3 0 .5-.1.7-.3.2-.2.3-.5.3-.7s-.1-.5-.3-.7zM5.8 14.7l6.2 6.3 6.2-6.3c.2-.2.3-.5.3-.7s-.1-.5-.3-.7c-.2-.2-.4-.3-.7-.3h-11c-.3 0-.5.1-.7.3-.2.2-.3.5-.3.7s.1.5.3.7z\"\/><\/svg><\/span><\/span><\/span><\/a><\/span><\/div>\n<nav><ul class='ez-toc-list ez-toc-list-level-1' ><ul class='ez-toc-list-level-2' ><li class='ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-1\" href=\"https:\/\/www.fambach.net\/en\/nrf-rc-auto\/#Ansicht\" >View<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-2\" href=\"https:\/\/www.fambach.net\/en\/nrf-rc-auto\/#Einsatzzwecke\" >Applications<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-3\" href=\"https:\/\/www.fambach.net\/en\/nrf-rc-auto\/#Stuckliste\" >St&uuml;ckliste<\/a><ul class='ez-toc-list-level-3' ><li class='ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-4\" href=\"https:\/\/www.fambach.net\/en\/nrf-rc-auto\/#Auto\" >Car<\/a><\/li><\/ul><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-5\" href=\"https:\/\/www.fambach.net\/en\/nrf-rc-auto\/#Fernbedienung\" >Remote control<\/a><ul class='ez-toc-list-level-3' ><li class='ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-6\" href=\"https:\/\/www.fambach.net\/en\/nrf-rc-auto\/#Grundlagen\" >Foundations<\/a><\/li><\/ul><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-7\" href=\"https:\/\/www.fambach.net\/en\/nrf-rc-auto\/#Schaltung\" >Circuit<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-8\" href=\"https:\/\/www.fambach.net\/en\/nrf-rc-auto\/#Programmierung\" >Programming<\/a><ul class='ez-toc-list-level-3' ><li class='ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-9\" href=\"https:\/\/www.fambach.net\/en\/nrf-rc-auto\/#Bibliothek\" >Library<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-10\" href=\"https:\/\/www.fambach.net\/en\/nrf-rc-auto\/#Testprogramm\" >Test programme<\/a><ul class='ez-toc-list-level-4' ><li class='ez-toc-heading-level-4'><a class=\"ez-toc-link ez-toc-heading-11\" href=\"https:\/\/www.fambach.net\/en\/nrf-rc-auto\/#Sender\" >Sender<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-4'><a class=\"ez-toc-link ez-toc-heading-12\" href=\"https:\/\/www.fambach.net\/en\/nrf-rc-auto\/#Empfanger\" >Empf&auml;nger<\/a><\/li><\/ul><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-13\" href=\"https:\/\/www.fambach.net\/en\/nrf-rc-auto\/#Ausgabe\" >Output<\/a><\/li><\/ul><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-14\" href=\"https:\/\/www.fambach.net\/en\/nrf-rc-auto\/#Fazit\" >Conclusion<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-15\" href=\"https:\/\/www.fambach.net\/en\/nrf-rc-auto\/#Probleme\" >Problems<\/a><ul class='ez-toc-list-level-3' ><li class='ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-16\" href=\"https:\/\/www.fambach.net\/en\/nrf-rc-auto\/#Toter_Bereich_des_Joystick\" >Dead zone of the joystick<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-17\" href=\"https:\/\/www.fambach.net\/en\/nrf-rc-auto\/#RF_Poblem\" >RF Problem<\/a><\/li><\/ul><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-18\" href=\"https:\/\/www.fambach.net\/en\/nrf-rc-auto\/#Empfanger_reagiert_stark_verzogert\" >Empf&auml;nger reagiert stark verz&ouml;gert<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-19\" href=\"https:\/\/www.fambach.net\/en\/nrf-rc-auto\/#Verwandte_Beitrage\" >Verwandte Beitr&auml;ge<\/a><\/li><\/ul><\/li><li class='ez-toc-page-1 ez-toc-heading-level-1'><a class=\"ez-toc-link ez-toc-heading-20\" href=\"https:\/\/www.fambach.net\/en\/nrf-rc-auto\/#Quellen\" >Sources<\/a><\/li><\/ul><\/nav><\/div>\n\n<p class=\"wp-block-paragraph\">Mit Hilfe von Hal-Sensoren Encodern oder Odometrien k&ouml;nnen die Umdrehungen von Motorwellen gez&auml;hlt werden. Wie fein die Z&auml;hlung ist h&auml;ngt von der Aufl&ouml;sung ab. Ich habe mir mal einen dieser Motoren mit Hal-Sensor angsehen die Ergebnisse findet ihr hier zusammengefasst.<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">Facts<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">Mein Motor hat 6 Anschl&uuml;sse. Zwei f&uuml;r die Motor 9V Versorgungsspannung und 4 f&uuml;r den Encoder. Zwei hiervon sind f&uuml;r die 5V Versorungsspannung der beiden Hal-Sensoren und die anderen f&uuml;r die Signalleitungen.<\/p>\n\n\n\n<ul class=\"wp-block-list\"><li>Hall Sensor 5V DC<\/li><li>Motor voltage: DC 9V<\/li><li>Leerlaufstrom: &le;200mA<\/li><li>Max. current: 1.2A<\/li><li>Engine speed: Idle 150 rpm \u2013 Load 100 rpm\/min&nbsp; <\/li><li>150 Z&auml;hler des Encoders pro einer Wellenumdrehung<\/li><\/ul>\n\n\n\n<h2 class=\"wp-block-heading\">Areas of application<\/h2>\n\n\n\n<ul class=\"wp-block-list\"><li>Autonomous positioning systems (Warning: highly error-prone).<\/li><li>For precise control\/positioning of shafts (e.g. Gimbal)<\/li><\/ul>\n\n\n\n<h2 class=\"wp-block-heading\">Views<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">Hier ein paar Bespiele f&uuml;r Belegungen. Also genau hin schauen und am Besten nur Motoren kaufen bei denen die Belegung und die Betreibsspannungen klar sind.<\/p>\n\n\n\n<figure class=\"wp-block-gallery columns-1 wp-block-gallery-1 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><img loading=\"lazy\" decoding=\"async\" width=\"351\" height=\"374\" src=\"https:\/\/fambach.net\/wp-content\/uploads\/2019\/06\/image-22.png\" alt=\"Meine Belegung vom Omnicar\" data-id=\"4242\" data-link=\"https:\/\/fambach.net\/?attachment_id=4242\" class=\"wp-image-4242\"><figcaption class=\"blocks-gallery-item__caption\">My booking with Omnicar<\/figcaption><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><img loading=\"lazy\" decoding=\"async\" width=\"329\" height=\"171\" src=\"https:\/\/fambach.net\/wp-content\/uploads\/2019\/06\/image-20.png\" alt=\"Gleiche Belegung andere Farben\" data-id=\"4236\" data-link=\"https:\/\/fambach.net\/?attachment_id=4236\" class=\"wp-image-4236\"><figcaption class=\"blocks-gallery-item__caption\">Same assignment, different colours<\/figcaption><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><img loading=\"lazy\" decoding=\"async\" width=\"623\" height=\"307\" src=\"https:\/\/fambach.net\/wp-content\/uploads\/2019\/06\/image-18.png\" alt=\"Andere Belegung\" data-id=\"4234\" data-link=\"https:\/\/fambach.net\/?attachment_id=4234\" class=\"wp-image-4234\"><figcaption class=\"blocks-gallery-item__caption\">Other assignment<\/figcaption><\/figure><\/li><\/ul><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"Stuckliste\"><\/span>St&uuml;ckliste<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<ul class=\"wp-block-list\"><li>Geared motor with encoder<\/li><li>Arduino Uno<\/li><li>Cable<\/li><\/ul>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"Programmierung\"><\/span>Programming<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<h3 class=\"wp-block-heading\">Circuit<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">Der Encoder 1 h&auml;ngt am Interruptpin 2. Den Motor selbst habe ich nicht mit Strom versorgt, da f&uuml;r diesen Test das manuelle drehen der Welle reicht.<\/p>\n\n\n\n<figure class=\"wp-block-image\"><a href=\"https:\/\/fambach.net\/wp-content\/uploads\/2019\/06\/UnoWithEncoderMotor_bb.png\"><img loading=\"lazy\" decoding=\"async\" width=\"1071\" height=\"768\" src=\"https:\/\/fambach.net\/wp-content\/uploads\/2019\/06\/UnoWithEncoderMotor_bb.png\" alt=\"Arduino Uno + Getriebemotor mit Encoder\" class=\"wp-image-4296\"><\/a><figcaption>Arduino Uno + geared motor with encoder<\/figcaption><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\">Libraries<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">Eine Zus&auml;tzliche Bibliothek ist nicht notwendig, der Arduino bringt schon alles mit.<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"Testprogramm\"><\/span>Test programme<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">The test programme I have under this <a href=\"http:\/\/andrewjkramer.net\/motor-encoders-arduino\/\">Link<\/a> gefunden und auf meine Bed&uuml;rfnisse angepasst. Das Beipiel verwendet den Interrupt des Arduinos. Da der Uno nur zwei hat ist somit bei zwei Motoren schluss. Der Arduino Mega und der ESP kann da mehr.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Here is the example to download:<\/p>\n\n\n\n<div class=\"wp-block-file\"><a href=\"https:\/\/fambach.net\/wp-content\/uploads\/2019\/06\/ArduinoUnoEncoderTest.zip\">Arduino Uno Encoder Test<\/a><a href=\"https:\/\/fambach.net\/wp-content\/uploads\/2019\/06\/ArduinoUnoEncoderTest.zip\" class=\"wp-block-file__button\" download>Download<\/a>\n\n\n\n<h3 class=\"wp-block-heading\">This is what it looks like<\/h3>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"397\" height=\"381\" src=\"https:\/\/fambach.net\/wp-content\/uploads\/2019\/06\/image-23.png\" alt=\"Encoder Test Cosolenausgabe\" class=\"wp-image-4295\"><figcaption>Encoder Test Console Output<\/figcaption><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">Conclusion<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">Reading the encoder seems simple. However, Andrew Kramer describes a few inaccuracies. Should the x<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Wenn man jedoch die Motoren synchronisieren m&ouml;chte, bietet der Encoder eine M&ouml;glichkeit dies zu automatisieren.<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">Verwandte Beitr&auml;ge<\/h2>\n\n\n<ul class=\"display-posts-listing\">\n<li class=\"listing-item\"><a class=\"title\" href=\"https:\/\/www.fambach.net\/en\/gy-530-vl53l0x-laserentfernungsmesser\/\">GY-530 VL53L0X Laser Rangefinder<\/a><\/li>\n<li class=\"listing-item\"><a class=\"title\" href=\"https:\/\/www.fambach.net\/en\/pan-tilt-mit-joystick\/\">Pan Tilt with joystick<\/a><\/li>\n<li class=\"listing-item\"><a class=\"title\" href=\"https:\/\/www.fambach.net\/en\/arduino-pan-tilt-test\/\">Arduino \u2013 Pan\/Tilt Test<\/a><\/li>\n<li class=\"listing-item\"><a class=\"title\" href=\"https:\/\/www.fambach.net\/en\/motorencoder\/\">Motor with Hall sensor<\/a><\/li>\n<li class=\"listing-item\"><a class=\"title\" href=\"https:\/\/www.fambach.net\/en\/chassisomnicar1\/\">Triangular robot chassis with omnidirectional wheels<\/a><\/li>\n<li class=\"listing-item\"><a class=\"title\" href=\"https:\/\/www.fambach.net\/en\/arduino-usb-zusatzplatine\/\">Arduino USB Host expansion board<\/a><\/li>\n<li class=\"listing-item\"><a class=\"title\" href=\"https:\/\/www.fambach.net\/en\/gy-273-hmc5883l-kompassmodul\/\">GY-273\/HMC5883L \u2013 Compass Module<\/a><\/li>\n<li class=\"listing-item\"><a class=\"title\" href=\"https:\/\/www.fambach.net\/en\/arduino-schach-uhr\/\">Arduino Chess Clock<\/a><\/li>\n<li class=\"listing-item\"><a class=\"title\" href=\"https:\/\/www.fambach.net\/en\/rc-auto-mit-ps2-controller\/\">RC car with PS2 controller<\/a><\/li>\n<li class=\"listing-item\"><a class=\"title\" href=\"https:\/\/www.fambach.net\/en\/nrf-rc-auto\/\">NRF RC Car<\/a><\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\">Sources<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\"><blockquote class=\"wp-embedded-content\" data-secret=\"6Hyr3qtwpu\"><a href=\"http:\/\/andrewjkramer.net\/motor-encoders-arduino\/\">Motor Encoders with Arduino<\/a><\/blockquote><iframe loading=\"lazy\" class=\"wp-embedded-content\" sandbox=\"allow-scripts\" security=\"restricted\" style=\"position: absolute; clip: rect(1px, 1px, 1px, 1px);\" title=\"\u201cMotor Encoders with Arduino \u2014 Bot Blog\" src=\"http:\/\/andrewjkramer.net\/motor-encoders-arduino\/embed\/#?secret=6Hyr3qtwpu\" data-secret=\"6Hyr3qtwpu\" width=\"600\" height=\"338\" frameborder=\"0\" marginwidth=\"0\" marginheight=\"0\" scrolling=\"no\"><\/iframe><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><a href=\"https:\/\/goetzmd.de\/diy\/arduino\/arduino-encoder-tutorial-fuer-anfaenger\">https:\/\/goetzmd.de\/diy\/arduino\/arduino-encoder-tutorial-fuer-anfaenger<\/a><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><a href=\"https:\/\/www.instructables.com\/id\/Motor-With-Encoder-How-to-Read-Input-Value-From-En\/\">https:\/\/www.instructables.com\/id\/Motor-With-Encoder-How-to-Read-Input-Value-From-En\/<\/a><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><a href=\"https:\/\/www.allaboutcircuits.com\/projects\/use-an-arduino-to-control-a-motor\/\">https:\/\/www.allaboutcircuits.com\/projects\/use-an-arduino-to-control-a-motor\/<\/a><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><a href=\"https:\/\/www.digikey.de\/de\/blog\/using-bldc-hall-sensors-as-position-encoders-part-3\">https:\/\/www.digikey.de\/de\/blog\/using-bldc-hall-sensors-as-position-encoders-part-3<\/a><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><a href=\"https:\/\/www.instructables.com\/Hall-Effect-Sensors-1-Position-Control\/\">https:\/\/www.instructables.com\/Hall-Effect-Sensors-1-Position-Control\/<\/a><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><a href=\"https:\/\/makersportal.com\/blog\/2018\/10\/3\/arduino-tachometer-using-a-hall-effect-sensor-to-measure-rotations-from-a-fan\">https:\/\/makersportal.com\/blog\/2018\/10\/3\/arduino-tachometer-using-a-hall-effect-sensor-to-measure-rotations-from-a-fan<\/a><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><a href=\"https:\/\/hartmut-waller.info\/arduinoblog\/licht-schalten-hall-sensor\/\">https:\/\/hartmut-waller.info\/arduinoblog\/licht-schalten-hall-sensor\/<\/a><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><a href=\"https:\/\/store.arduino.cc\/mega-2560-r3\">https:\/\/store.arduino.cc\/mega-2560-r3<\/a><\/p>","protected":false},"excerpt":{"rendered":"<p>Mit Hilfe von Hal-Sensoren Encodern oder Odometrien k&ouml;nnen die Umdrehungen von Motorwellen gez&auml;hlt werden. Wie fein die Z&auml;hlung ist h&auml;ngt von der Aufl&ouml;sung ab. Ich habe mir mal einen dieser Motoren mit Hal-Sensor angsehen die Ergebnisse findet ihr hier zusammengefasst. Fakten Mein Motor hat 6 Anschl&uuml;sse. Zwei f&uuml;r die Motor 9V Versorgungsspannung und 4 f&uuml;r &#8230;<\/p>\n<a href=\"https:\/\/www.fambach.net\/en\/motor-platine-v1\/\" class=\"read-more-link\">Carry on reading <span class=\"screen-reader-text\">\"Adafruit Motor Shield v1\"<\/span> <span class=\"meta-nav\">\u2192<\/span><\/a>","protected":false},"author":1,"featured_media":4303,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_lmt_disableupdate":"no","_lmt_disable":"no","footnotes":""},"categories":[178,199],"tags":[29,119,49],"class_list":["post-4220","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-arduino-projekte","category-motoren","tag-arduino","tag-motor","tag-uno","penguin-post","penguin-post-not-sticky"],"modified_by":"sfambach","_links":{"self":[{"href":"https:\/\/www.fambach.net\/en\/wp-json\/wp\/v2\/posts\/4220","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.fambach.net\/en\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.fambach.net\/en\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.fambach.net\/en\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.fambach.net\/en\/wp-json\/wp\/v2\/comments?post=4220"}],"version-history":[{"count":15,"href":"https:\/\/www.fambach.net\/en\/wp-json\/wp\/v2\/posts\/4220\/revisions"}],"predecessor-version":[{"id":8202,"href":"https:\/\/www.fambach.net\/en\/wp-json\/wp\/v2\/posts\/4220\/revisions\/8202"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/www.fambach.net\/en\/wp-json\/wp\/v2\/media\/4303"}],"wp:attachment":[{"href":"https:\/\/www.fambach.net\/en\/wp-json\/wp\/v2\/media?parent=4220"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.fambach.net\/en\/wp-json\/wp\/v2\/categories?post=4220"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.fambach.net\/en\/wp-json\/wp\/v2\/tags?post=4220"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}