On Fri, Oct 02, 2009 at 12:37:05PM +0100, Steve Blackmore wrote:

> On page 6 I changed the sampling rate to base thread.
> 
> http://filebin.ca/wacbfm/screenshots.pdf


Excellent, page 7 shows the problem very clearly.  You have really
awful spindle feedback.  I'm surprised this works at all.

You have a bad noise or wiring problem, but also you have a bogus A
channel with a duty cycle nowhere near 50%.

What kind of encoder is this?  Very old ones have adjustments inside
that you can fiddle with.  Maybe you could improve the duty cycle on
A.  The noise problem has to be fixed in your wiring though.


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