On Sat, 7 Nov 2020, Gene Heskett wrote:
I think I've been doing that in my hal file(s) for at least a decade.
Based on if its got an index, why not use it? And if it doesn't have a
home switch, add one of those too.
Where would I see that error if there is a miss match?
Thanks Peter.
You cannot do what I am suggesting without driver changes
If you set index enable mid-motion it will currently clear
the position. What I am suggesting is that the driver enable
latch on index permanently and that the latched count deltas
between turns be checked against the counts per turn as a
encoder sanity check.
Peter Wallace
Mesa ELectronics
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