Hi Craig 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 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.. Regards, Paul.