Chris Radek wrote: > > The quality of the velocity output depends on which encoder counter > you're using. I think the 'encoder' block is currently the best, > pluto is adequate (integer number of counts), and ppmc doesn't have > any at all (but I bet you can use ddt). I don't know about > mesa/motenc/etc. > > The problem with using ddt is it will go briefly nuts when the count > resets at an index or wraps around. This is why the driver should > give a velocity output that has these cases handled. Hmm, ppmc has an unscaled delta output, which is handy for tuning. If the canonical encoder interface has a velocity, then I should put this into the ppmc encoder function.
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