Can't the resolution of Moteus using incremental encoders exceed 200000

[away12356]

No description provided.

[jpieper]

Are you observing an unexpected behavior? If so, please describe it.

[away12356]

Manually rotate the motor quickly, with no change in CPR and a large amount of error data

[jpieper]

What moteus controller are you using and is your encoder connected as a software or hardware quadrature?

[away12356]

R11, I am using software orthogonal. How can I connect hardware orthogonal

[jpieper]

With software quadrature, you are limited to roughly 100000 counts per second of motion, no matter what the resolution is.

Unfortunately, hardware quadrature is not supported on moteus-r4, only on moteus-c1 and moteus-n1. With those boards and hardware quadrature, the limit is higher at roughly 10000000 counts per second.

[away12356]

What is the difference between hardware orthogonality and software orthogonality

[jpieper]

Software quadrature is implemented as a software interrupt, hardware quadrature uses a dedicated hardware decoder in the microcontroller.

[away12356]

Hardware quadrature wiring is the same as software quadrature?

[jpieper]

I'm not entirely sure what your question is. The supported electrical input levels are identical between software and hardware quadrature. However, only the c1 and n1 expose pins that are capable of hardware.

You can see the pin capability table here: https://github.com/mjbots/moteus/blob/main/docs/reference.md#pin-options

The pins capable of hardware quadrature are labeled in the "HW Quad/PWM" column.