Hello Paul, *On Sunday 26 November 2006 16:37, [email protected] wrote: *> 20,000 counts per revolution is in fact pretty high for an encoder. The *> "latest thing" however is the new sin/cos encoders which output counts in *> the millions. * *The sin/cos encoder referred to in the article only has 1024 "periods" per *rev. The sine waves are then interpolated to produce the 4M discrete counts *with the aid of a dedicated DSP - Presumably, correction tables are *programmed in to reduce cyclic errors and phase variations. * *> I originally thought the video card might be the problem source so I *> replaced it last week (and lowered the period to .0001) but the problem *> still remains. * *Unlikely unless it shares system RAM and/or uses proprietory closed source *drivers * *> My next step is to make an attempt at recompiling without the debounce *> code. I have *some programming experience but a duffer's guide on this *> would be great! Really, any instructions or recommended reading you *could *> suggest would be appreciated. * *First stage is to install the tools and libraries using the command: * * apt-get build-dep emc When I enter this command I get the following message: Package rtai-headers is a virtual package provided by: rtai-dev-2.6.16.18-rtai 3.3-4+2 rtai-dev-2.6.16.20-rtai 3.3-5+1 rtai-dev-2.6.16-rtai 1 rtai-dev-2.6.12.6-rtai 2 You should explicitly select one to install. I know I need to include some additional information in get-build command, but am not sure how to include it, can you help me out? *Then "apt-get source emc" will download and extract the sources to the *current *directory. Run configure in src/ and add -DSIMULATED_MOTORS to the RTFLAGS *line in src/Makefile.inc - A `make modules_install` as root will compile *the *low level module where the "position debounce" takes place - We don't need *to *worry about recompiling & installing any of the user space parts.. * * Thanks, Craig