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Updated encoder

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This commit is contained in:
Hakan Bastedt
2025-08-06 21:02:22 +02:00
parent 90a2d4dd32
commit 44a15a21f8
6 changed files with 382 additions and 71 deletions
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24
Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/src/main.cpp
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@@ -83,8 +83,8 @@ void cb_set_outputs(void) // Get Master outputs, slave inputs, first operation
for (int i = 0; i < 4; i++)
digitalWrite(OUTPUTS[i], bitcheck(Obj.Output4, i) ? HIGH : LOW);
// analogWrite(DAC1_pin, Obj.Voltage);
// Encoder1.setLatch(Obj.IndexLatchEnable);
// Encoder1.setScale(2000);
Encoder1.setLatch(Obj.EncIndexLatchEnable);
Encoder1.setScale(Obj.EncScale);
posScale1 = Obj.StepsPerMM1; // Scale perhaps changed
posScale2 = Obj.StepsPerMM2;
@@ -108,25 +108,21 @@ void cb_set_outputs(void) // Get Master outputs, slave inputs, first operation
void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
{
Obj.Velocity = Obj.Scale * FrequencyMeasured;
float scale = 1;
if (Obj.Scale != 0.0)
scale = Obj.Scale;
Obj.Velocity = scale * sin(ESCvar.Time * 1e-8 * 6.28); // Test
float scale = 1;
if (Obj.EncScale != 0.0)
scale = Obj.EncScale;
for (int i = 0; i < 8; i++)
if (digitalRead(INPUTS[i]) == HIGH)
bitSet(Obj.Input8, i);
else
bitClear(Obj.Input8, i);
#if 0
Obj.IndexStatus = Encoder1.indexHappened();
Obj.EncPos = Encoder1.currentPos();
Obj.EncFrequency = Encoder1.frequency(longTime.extendTime(micros()));
Obj.IndexByte = Encoder1.getIndexState();
Obj.Velocity = Obj.Scale * FrequencyMeasured;
#endif
Obj.IndexStatus = Encoder1.indexHappened();
Obj.EncPosition = Encoder1.currentPos();
Obj.IndexByte = Encoder1.getIndexState();
Obj.EncVelocity = Obj.EncScale * FrequencyMeasured;
Obj.ActualPosition1 = Step->stepgen_array[0].pos_fb;
Obj.ActualPosition2 = Step->stepgen_array[1].pos_fb;
Obj.ActualPosition3 = Step->stepgen_array[2].pos_fb;