On 01/19/2014 05:51 PM, Josiah Morgan wrote: > hey, > I was wondering if it was possible to use a pendant/mpg with the machineKit > build. if so, what encoder/pulse counter would I need to use in the touchy > HAL file? > if not, what is the best alternative that would work for machineKit? > > thanks in advance For an MPG, you don't need to count high pulse rates, so even sampling the GPIO pins at the servo rate will work. I do this on my minimill, as I ran out of hardware encoder counters on that machine. The BBB has loads of GPIO pins, but I gather that you'd need some kind of HAL driver to read in a bunch of them. That should be pretty simple to create if it doesn't already exist. The hardest part is getting the GPIO pins in the right input-vs-output state, then you can just read them as a word in the memory space. Once there's a driver reading in the pins, you can connect the software encoder HAL component to them.
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