Sensoray 421 - Manual (Page 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