35.2. MTG QEI ABZ example

35.2.1. Overview

The MTG QEI ABZ routine demonstrates the function of using a QEI ABZ type encoder as data input, processing it through MTG filters, and compensating it for time through trajectory prediction modules. The routine outputs the raw data of QEI and the data processed by MTG, and outputs the difference between the two.

35.2.2. Board Setting

No special settings

35.2.3. Running the example

mtg qei example time, QEI_REV, QEI_POS, MTG_REV, MTG_POS, MTG_VEL, MTG_ACC,MTG_REV_POS-QEI_REV_POS

0.108948,2,0.126709,2,0.126818,417,0,0.000109 0.113917,2,0.223633,2,0.223768,420,0,0.000135 0.118819,2,0.319580,2,0.319734,421,0,0.000154 0.123719,2,0.415772,2,0.415840,421,0,0.000069 0.128620,2,0.511719,2,0.511772,420,0,0.000054 0.133520,2,0.606934,2,0.607103,418,0,0.000170 0.138421,2,0.702637,2,0.702758,419,0,0.000121 0.143321,2,0.798340,2,0.798567,419,0,0.000227 0.148222,2,0.894775,2,0.894863,417,0,0.000088 0.153123,2,0.990234,2,0.990382,418,0,0.000148 0.158023,3,0.085205,3,0.085410,417,0,0.000205 0.162924,3,0.180664,3,0.180894,420,0,0.000230 0.167825,3,0.276855,3,0.276845,419,0,-0.000011 0.172812,3,0.374512,3,0.374673,422,0,0.000162 0.177713,3,0.470703,3,0.470737,419,0,0.000034 0.182613,3,0.566162,3,0.566257,419,0,0.000095 0.187513,3,0.661865,3,0.662009,422,0,0.000144 0.192414,3,0.757813,3,0.758032,420,0,0.000220 0.197314,3,0.853760,3,0.853958,419,0,0.000198 0.202215,3,0.949707,3,0.949708,418,0,0.000001 0.207115,4,0.044678,4,0.044839,418,0,0.000161