On Fri, Jul 16, 2010 at 12:28:45AM +0100, Andy Pugh wrote: > > I have had a quick look at the Motenc memory map and the Motenc HAL > driver, and basically it looks like all the Motenc does is count and > reset/latch. There is no velocity or edge timestamping. > > So, any velocity calculations would have to be done in the hal driver, > and thus in the servo thread and only on the basis of what is known by > that driver. This is likely to lead to a lack of precision when the > edges are only few servo threads long, or conversely there are only a > few encoder edges per servo cycle. However, modifying the driver > (which is rather simple) makes a lot more sense that writing the exact > same code in a comp.
Thanks for looking at it. If it's the best the hardware can do, a velocity pin reporting dcounts/dt (with dcounts safe across reset) is perfectly fine. If you feel like giving it a shot, I'd review it (but with no hardware) and maybe someone with hardware would volunteer to test it. Chris ------------------------------------------------------------------------------ This SF.net email is sponsored by Sprint What will you do first with EVO, the first 4G phone? Visit sprint.com/first -- http://p.sf.net/sfu/sprint-com-first _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
