Sensoray 421 Manual do Utilizador descarregar pdf (Página 26)

Page 24 Sensoray Model 421 Instruction Manual

Encoder Interface Procedures

FUNCTION ReadEncoder& (EncoderID%)

‘****************************************************************************

‘ Read and return encoder position.

‘

‘ Imports:

‘ EncoderID% = encoder channel number in range 0:2.

‘

‘ Exports:

‘ ReadEncoder& = encoder position in range 0:65535.

‘****************************************************************************

‘ Transfer encoder counter to holding register

OUT CNTCTL, EncoderID%

‘ Read holding register as 2 bytes & concatenate into long

counts& = INP(CNTMSB)

counts& = counts& * 256 + INP(CNTLSB)

ReadEncoder& = counts&

END FUNCTION

SUB ResetEncoder (EncoderID%)

‘****************************************************************************

‘ Reset specified encoder counter to zero.

‘

‘ Imports:

‘ EncoderID% = encoder channel in range 0:2.

‘****************************************************************************

OUT CNTCTL, 4 Or EncoderID% ‘ Reset encoder counter to zero

END SUB

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Sensoray 421 Manual do Utilizador Página 26