On Sun, Aug 2, 2015, at 08:18 PM, Andy Pugh wrote: > > > > On 3 Aug 2015, at 00:21, John Kasunich <[email protected]> wrote: > > > > So he > > gets velocity jitter. He's trying to make a 4 sample moving > > average, since the jitter should cancel out over a full quadrature > > cycle. > > I don't plan to do it, but I can see good arguments for that being the way > that the encoder component did it.
Well, if you have a good encoder, the existing encoder algorithm has less lag. Not an issue at high speeds with high ppr encoders, but potentially a problem at the low end. I wouldn't change the existing algorithm. I like your idea of using a second encoder comp in counter mode. I'm 99% sure that mode always looks at the same edge, so it should reduce velocity jitter by the same amount that Gene's arrangement will. Easy enough to try with halscope looking at the velocity outputs of both encoders as well as Gene's arrangement. -- John Kasunich [email protected] ------------------------------------------------------------------------------ _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
