Efficiently Reading Quadrature With Interrupts Once you start wanting to control the position of a motor through feedback control, you will likely end up using a rotary encoder as the feedback device. Encoders can be broadly categorized as: Absolute position Incremental position Absolute position encoders will tell you what the angular position is all the time, even between power cycles. Most use "grey code" (a modified form of binary) with several "tracks" (bits) to read position. Incremental position encoders will tell you what the angular position is, but only relative to where it was when you started paying attention (usually on power-up). Two common types of incremental outputs are: Incremental (clever name) Quadrature Incremental is rather useless for position control because it doesn't give you any information about what direction you are turning, just that you are turning. Quadrature encoders give you direction as well as ...
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