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[21:41:00] <andypugh> Does home-to-index use index-enable to reset the encoder counts?
[21:41:34] <andypugh> In which case, would a resolver or absolute encoder just return immediately with modulo counts?
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[23:13:07] <cradek> andypugh: yes that's how index-enable works (the encoder driver pushes it back low at the same time as it resets the counts)
[23:14:37] <andypugh> So, returning modulo counts would be correct for an absolute device with no index?
[23:14:39] <cradek> for a resolver you'd wait until it passes "zero" and reset
[23:15:04] <cradek> seems like you'd want to make fake indexes every so often
[23:15:40] <cradek> say index means (position modulo 1 inch == 0)
[23:16:09] <cradek> but I'm not sure really
[23:16:15] <andypugh> In the servo thread? Seems a bit wrong
[23:16:24] <cradek> depends how much of homing etc you want to change
[23:16:40] <cradek> why wrong?
[23:18:04] <andypugh> Normal index-reset happens in a fast thread rather than the slow thread.
[23:18:35] <andypugh> Though, actually, handling it in the wrap-code will work.
[23:18:43] <cradek> I think you're wrong and also it doesn't matter
[23:19:18] <cradek> encoders are almost always read only in the servo thread
[23:19:44] <cradek> and it doesn't matter if it's slow or fast, it works the same
[23:19:59] <andypugh> I thought that the index-reset happened in the base-thread or FPGA though.
[23:22:33] <cradek> that doesn't matter. what matters is the next servo cycle index-enable is back low again, and the count reflects the distance moved past the index
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[23:23:50] <cradek> for absolute you could just emulate 1" indexes, and set pos div 1inch = 0
[23:24:07] <andypugh> Yes, that's my point. That the "extra" counts need to be there.
[23:24:32] <andypugh> So resetting the counts to zero in the servo thread isn't right.
[23:24:55] <andypugh> But I guess that the index probably does want to happen somewhere near the zero position.
[23:25:17] <cradek> then we are saying the same thing: you only clear the div part, leave the mod part alone
[23:25:34] <andypugh> (Otherwise I can imagine a threading pass heading off in the wrong direction..)
[23:27:35] <andypugh> I am not entirely sure why I am worrying so much about this, as this is my own private Arduino/Resolver solution.
[23:28:01] <andypugh> But I probably need to check I am doing the right thing in the Mesa/Resolver code.
[23:28:29] <cradek> bbl
[23:29:05] <andypugh> (Previously my Arduino emulated quadrature and index, but I disliked that, and having added UART support to Mesa, I now have a 1Mb Serial comms between Arduino and Realtime)
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