andy pugh wrote: > Yes, that is normal. Encoder counters count every transition, so a 512 > slot encoder is 2048ppr. But if you turn the spindle slowly you should > see them count up in ones. > How accurate is the 90 degree shift? Halscope might be able to tell > you at a slow steady speed (if the individual pins show up in > Halscope) > They don't, when using the encoder counters of a Pico Systems board. Kasey could temporarily hook them to general digital inputs on the board to check this, if he doesn't have a hardware scope. Actually, though, if you turn the spindle at a slow enough, but steady rate, the appearance of the counts should show up in the encoder.x.velocity hal pin as a series of spikes, and should be regularly spaced. That is probably good enough to check the phasing.
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