# QEIV2 Sin/Cos Encoder

## Overview

**Qeiv2 Sin/Cos Encoder** project demonstrates configuring the Sin/Cos encoder and obtaining its data, then printing the data through a serial console.

## Configurations

- Use a signal generator to generate a set of sine and cosine waves, with a frequency of 1kHz, a peak to peak value of 3V, and a center voltage offset of 1.65V. The phase difference between the two is 90°.
- Connect sine signal to QEIV2 Sin pin, and cosine signal to QEIV2 Cos pin, as detailed in the development board documentation[QEIV2 Sin/Cos Pin](QEIV2_Sin/Cos_Pin).

## Running the Demo

- The injection of sine and cosine waves is equivalent to simulating the encoder rotating at a uniform speed.
- Power on, open the serial terminal, log as following:

```console

----------------------------------------------------------------------
$$\   $$\ $$$$$$$\  $$\      $$\ $$\
$$ |  $$ |$$  __$$\ $$$\    $$$ |\__|
$$ |  $$ |$$ |  $$ |$$$$\  $$$$ |$$\  $$$$$$$\  $$$$$$\   $$$$$$\
$$$$$$$$ |$$$$$$$  |$$\$$\$$ $$ |$$ |$$  _____|$$  __$$\ $$  __$$\
$$  __$$ |$$  ____/ $$ \$$$  $$ |$$ |$$ /      $$ |  \__|$$ /  $$ |
$$ |  $$ |$$ |      $$ |\$  /$$ |$$ |$$ |      $$ |      $$ |  $$ |
$$ |  $$ |$$ |      $$ | \_/ $$ |$$ |\$$$$$$$\ $$ |      \$$$$$$  |
\__|  \__|\__|      \__|     \__|\__| \_______|\__|       \______/
----------------------------------------------------------------------
qeiv2 sincos encoder example
ch0:0xea4, ch1:0x5d64, pos:0x718257c, ang:0x8c12be00, ph:0x3
ch0:0xea4, ch1:0x5d64, pos:0x718257c, ang:0x8c12be00, ph:0x3
ch0:0xea4, ch1:0x5d64, pos:0x718257c, ang:0x8c12be00, ph:0x3
ch0:0xea4, ch1:0x5d64, pos:0x718257c, ang:0x8c12be00, ph:0x3
ch0:0xea4, ch1:0x5d64, pos:0x718257c, ang:0x8c12be00, ph:0x3
ch0:0xea4, ch1:0x5d64, pos:0x718257c, ang:0x8c12be00, ph:0x3
ch0:0xea4, ch1:0x5d64, pos:0x718257c, ang:0x8c12be00, ph:0x3
ch0:0xea4, ch1:0x5d64, pos:0x718257c, ang:0x8c12be00, ph:0x3
ch0:0xea4, ch1:0x5d64, pos:0x718257c, ang:0x8c12be00, ph:0x3
ch0:0xea4, ch1:0x5d64, pos:0x718257c, ang:0x8c12be00, ph:0x3
ch0:0xea4, ch1:0x5d64, pos:0x718257c, ang:0x8c12be00, ph:0x3
ch0:0xea4, ch1:0x5d64, pos:0x718257c, ang:0x8c12be00, ph:0x3
ch0:0xea4, ch1:0x5d64, pos:0x718257c, ang:0x8c12be00, ph:0x3
ch0:0xea4, ch1:0x5d64, pos:0x718257c, ang:0x8c12be00, ph:0x3
ch0:0xea4, ch1:0x5d64, pos:0x718257c, ang:0x8c12be00, ph:0x3
ch0:0xea4, ch1:0x5d64, pos:0x718257c, ang:0x8c12be00, ph:0x3
ch0:0xea4, ch1:0x5d64, pos:0x718257c, ang:0x8c12be00, ph:0x3
ch0:0xea4, ch1:0x5d64, pos:0x718257c, ang:0x8c12be00, ph:0x3
ch0:0xea4, ch1:0x5d64, pos:0x718257c, ang:0x8c12be00, ph:0x3
ch0:0xea4, ch1:0x5d64, pos:0x718257c, ang:0x94756100, ph:0x3
ch0:0x17e1, ch1:0x46d4, pos:0x728eac2, ang:0x94756100, ph:0x3
ch0:0x17e1, ch1:0x46d4, pos:0x728eac2, ang:0x94756100, ph:0x3
ch0:0x17e1, ch1:0x46d4, pos:0x728eac2, ang:0x94756100, ph:0x3
ch0:0x17e1, ch1:0x46d4, pos:0x728eac2, ang:0x94756100, ph:0x3
ch0:0x17e1, ch1:0x46d4, pos:0x728eac2, ang:0x94756100, ph:0x3
ch0:0x17e1, ch1:0x46d4, pos:0x728eac2, ang:0x94756100, ph:0x3

```

- After the above printing is completed, the following information will be printed periodically, that is, the analog encoder will output position information once per revolution.

```console

z: 0x0
phase: 0x80000040
position: 0x8004a42a
ang: 0x2521500
z: 0x15
phase: 0x80000040
position: 0x800373a6
ang: 0x1b9d300
z: 0x16
phase: 0x80000040
position: 0x8001b834
ang: 0xdc1a00
z: 0x17
phase: 0x80000040
position: 0x80113a66
ang: 0x89d3300
z: 0x18
phase: 0x80000040
position: 0x800f8dfc
ang: 0x7c6fe00
z: 0x19
phase: 0x80000040
position: 0x800dde1e
ang: 0x6ef0f00
z: 0x1a
phase: 0x80000040
position: 0x800c0d92
ang: 0x606c900
z: 0x1b

```