Table of Contents

Quadrature Encoder

Summary

This example demonstrates how to obtain the position values of a quadrature encoder using the Harp Behavior board (see hardware schematics below).

Workflow

Example

Details

  1. Establishes the commands to be sent to the Behavior board and publishes all the events from the device. The PortName property in the Behavior node needs to be set to the COM device on the computer. To create the subject node, right-click on the Behavior node -> Create Source -> Behavior Subject, and name it accordingly.
    1. Filters the messages from the Behavior board that pertain analog inputs.
    2. Selects the Encoder from the list of possible analog outputs (see the output of the Parse node in 1.2).
  2. Resets the quadrature encoder counts such that the encoder starts at zero.
  3. Enables the quadrature encoder.
  4. Ensures that command messages are sent only when the device is ready.

Requirements

This example requires the following Bonsai packages:

  • Harp - Behavior (from nuget.org)

Schematics

The Harp Behavior board can read the position value of one quadrature encoder connected to Port2. The encoder in the schematics is the ENC1J-D28-L00128L.

Schematics

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