50.4. QEIV2 Sin/Cos Encoder
50.4.1. Overview
Qeiv2 Sin/Cos Encoder project demonstrates configuring the Sin/Cos encoder and obtaining its data, then printing the data through a serial console.
50.4.2. 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 documentationQEIV2 Sin/Cos Pin.
50.4.3. 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:
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$$\ $$\ $$$$$$$\ $$\ $$\ $$\
$$ | $$ |$$ __$$\ $$$\ $$$ |\__|
$$ | $$ |$$ | $$ |$$$$\ $$$$ |$$\ $$$$$$$\ $$$$$$\ $$$$$$\
$$$$$$$$ |$$$$$$$ |$$\$$\$$ $$ |$$ |$$ _____|$$ __$$\ $$ __$$\
$$ __$$ |$$ ____/ $$ \$$$ $$ |$$ |$$ / $$ | \__|$$ / $$ |
$$ | $$ |$$ | $$ |\$ /$$ |$$ |$$ | $$ | $$ | $$ |
$$ | $$ |$$ | $$ | \_/ $$ |$$ |\$$$$$$$\ $$ | \$$$$$$ |
\__| \__|\__| \__| \__|\__| \_______|\__| \______/
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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.
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