# QEIV2 ABZ Encoder Oneshot Mode

## 概述

**Qeiv2 ABZ Encoder Oneshot Mode**工程主要演示配置ABZ编码器并获取其单次的数据，然后通过串口终端将数据打印出来。

## 配置

- 安装串口终端，查看[板子信息](lab_board_overiew)并配置串口终端参数
- 电机使用的是雷赛智能 **BLM57050-1000** 无刷电机，电机具体参数请参考[雷赛智能官网](https://leisai.com/)。
- 点击查看[DRV-LV50A-MP1907电机驱动板](lab_drv_lv50a_mp1907)章节并进行配置

## 运行现象

- 上电后，打开串口终端，打印启动信息。

```console

----------------------------------------------------------------------
$$\   $$\ $$$$$$$\  $$\      $$\ $$\
$$ |  $$ |$$  __$$\ $$$\    $$$ |\__|
$$ |  $$ |$$ |  $$ |$$$$\  $$$$ |$$\  $$$$$$$\  $$$$$$\   $$$$$$\
$$$$$$$$ |$$$$$$$  |$$\$$\$$ $$ |$$ |$$  _____|$$  __$$\ $$  __$$\
$$  __$$ |$$  ____/ $$ \$$$  $$ |$$ |$$ /      $$ |  \__|$$ /  $$ |
$$ |  $$ |$$ |      $$ |\$  /$$ |$$ |$$ |      $$ |      $$ |  $$ |
$$ |  $$ |$$ |      $$ | \_/ $$ |$$ |\$$$$$$$\ $$ |      \$$$$$$  |
\__|  \__|\__|      \__|     \__|\__| \_______|\__|       \______/
----------------------------------------------------------------------
qeiv2 abz encoder example
z: 0x64, phase: 0x1f4
z: 0x64, phase: 0x1f4
z: 0x64, phase: 0x1f4
z: 0x64, phase: 0x1f4
z: 0x64, phase: 0x1f4
z: 0x64, phase: 0x1f4
z: 0x64, phase: 0x1f4
z: 0x64, phase: 0x1f4
z: 0x64, phase: 0x1f4
z: 0x64, phase: 0x1f4

```

- 转动电机就会触发编码器计算速度的中断，打印如下信息。
```console
cycle0 --- pulse_snap0: 0xffffffff, cylce_snap0:        0x0, spd : 0 deg/s
cycle0 --- pulse_snap1:        0x0, cylce_snap1:        0x0, spd : 0 deg/s
cycle1 --- pulse_snap0: 0xffffffff, cylce_snap0:        0x0, spd : 0 deg/s
cycle1 --- pulse_snap1:        0x0, cylce_snap1:        0x0, spd : 0 deg/s
pulse1 --- cycle_snap0: 0x6cf42561, spd: 5 deg/s,
pulse1 --- cycle_snap1: 0x1a119d, spd: 5 deg/s,
pulse0 --- cycle_snap0: 0x160b51b, spd: 5 deg/s,
pulse0 --- cycle_snap1: 0x25bfd0, spd: 5 deg/s,

```