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Unread 24-04-2010, 12:33
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Re: Unexpected results from Encoder::GetRate()

Quote:
Originally Posted by vamfun View Post
Your scheme and mine will both have 1 count ambiguity...it just occurs at different times.
I don't believe that is true. Yours has the ambiguity; a true quadrature decoder does not.

Quote:
Lets take a simple 1 deg resolution encoder. We start with 0 angle, rotate to 1.1 deg and reverse to .99 and continue back to .1 and eventually back to 0. Error = true - encoder
Angle..joe count/chris count... joe error/chris error

0.0..0/0....0/0
1.1..1/1... 0.1/0.1*****tie
0.9..0/1...0.9/-0.1*****chris wins
0.5..0/1...0.5/-0.5*****tie.
0.1..0/1....0.1/-0.9*****joe wins
0.0..0/0.....0/0******tie
That range seems chosen especially to favor your scheme, and you ignored the fractional information that a quadrature encoder can provide. Depending on what "1 deg resolution" means, a quadrature decoder will give at least twice the resolution of an edge-triggered up/down counter, and can give four times as much.

You also left out all of the samples that would reveal that yours gives different values for the same position depending on where it came from. For measuring position, I do not believe hysteresis is a positive attribute.
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