33.3. MTG SEI tamagawa 例程

33.3.1. 概述

MTG SEI tamagawa 例程演示了使用SEI与tamagawa编码器通信获取数据，经过MTG的滤波器进行处理，以及经过轨迹预测模块对其进行时间补偿的功能。例程输出SEI的原始数据和经过MTG处理后的数据，并输出两者之间的差值。

33.3.2. 硬件设置

• 多摩川编码器的型号为TS5700N8401。

• 将SEI接口信号DATA_P/DATA_N与编码器的数据信号相连接，编码器通过开发板+5V供电。

33.3.3. 运行现象

当工程正确运行后，串口终端会输出如下信息： Started sei engine! mtg sei tamagawa example SEI ISR CNT, TIME, SEI_POS, MTG_POS, MTG_VEL, MTG_POS-QEI_POS

8,0.112206,0.468197,0.468151,0,-0.000047 12,0.115955,0.468197,0.468151,0,-0.000046 16,0.119720,0.468197,0.468151,0,-0.000046 20,0.123484,0.468197,0.468151,0,-0.000046 23,0.127249,0.468197,0.468151,0,-0.000046 27,0.131013,0.468197,0.468151,0,-0.000047 31,0.134777,0.468197,0.468151,0,-0.000046 35,0.138542,0.468197,0.468151,0,-0.000047 38,0.142306,0.468197,0.468151,0,-0.000047 42,0.146071,0.468197,0.468151,0,-0.000046 46,0.149835,0.468197,0.468151,0,-0.000047 50,0.153599,0.468197,0.468151,0,-0.000046 53,0.157363,0.468197,0.468151,0,-0.000046 57,0.161128,0.468197,0.468151,0,-0.000047 61,0.164892,0.468197,0.468151,0,-0.000046