We are using E4T Quadrature Encoders with a CPR of 360. The SRX Software guide states on page 109.
17.2.1. API requirements and Native Units for Unit Scaling
Native Units Per Mechanical Rotation (also the resolution)
Quadrature Encoder 4 X CPR
ConfigEncoderCodesPerRev() <= The Java API documentation implies this should be set to CPR = 360
The doc kind of implies that ConfigEncoderCodesPerRev() should be set to 4 x CPR (or 360 in our case)
Also then when calculating F-Gain what do you use 360 or 1440
is F-Gain = (.5 x 1023) / 1440
or
is F-Gain = (.5 x 1023) / 360
So two questions
what is the proper value for the denominator in F-Gain calc?
What do we plug in for ConfigEncoderCodesPerRev() ? (360 or 1440)