On 05/17/2018 11:21 AM, Maxime Lemonnier wrote:
Hi Jon,
Thanks for the clarifications, and sorry I forgot to
mention your critical
involvment when I asked the question. Also, who is this
formal mr.
Lemonnier guy?, I'm Maxime :)
>From what I read, I should have " set the encoder-index
to true, and then
watch for it to go false"?
That is not what I did, I use encoder.07.index as an
input, I don't write
it. When I detect *index* goes to 1, I compute the delta,
and wrtie 1 to*
index-enable* so the encoder can be reset on next
trigger. It is important
for to be certain I'm doing it right.
This ought to behave the same way. encoder.xx.index will
always show a 1 for only one servo cycle when it detects a
rising edge on the Z input. If encoder.xx.index-enable
was 1 on the previous servo cycle, then it will be written
to 0 at the same time that index gets the 1.
So, either of these methods should trigger you to be able
to record the position out of that encoder at that time.
The only way this could get fouled up is if there is a
slow transition or ringing on the Z signal. So, you want
to make sure that is not getting any extra edges, either
rising or falling.
Jon
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