Andy Pugh wrote: > 2009/10/4 Gene Heskett <gene.hesk...@gmail.com>: > > >> That looks better, but something is still giving the encoder.0.velocity a big >> kick occasionally. >> > > I think those are on the occasions that both channels change state in > the same sample. That does mean infinite velocity, after all. (Does > the encoder code cap velocity at 1/base thread frequency?) > > I suspect that is due to aliasing and the short duty-cycle of the A > channel. Occasionally you get unlucky with the sample frequency and > catch both changing at the same time. > That represents an illegal transition, and should be rejected. At the worst case, it could trick the logic into altering the position by 4 counts. If there is a burst of noise on both A and B at the same time, it could maybe cause more counts than that to accumulate. Have you tried putting pull-up resistors on the A and B lines? I think you have made progress, but it looks like this is not yet working well enough for machining.
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