Flexible Encoder Companion Source State

Recovers the current encoder state of the named Companion Encoder Source. Note that an Absolute Encoder Source can be treated as a companion.

Block ID

Get Companion Source State

Library

motohawk_flexenc_lib

Description

Block Parameters

Parameter Field	Values	Comments/Description
Name	Alpha-numeric text, quote enclosed	The name of the Absolute Source or Companion Source that this block is to recover the state from.

Overview

Recovers the current encoder state of the named Companion Encoder Source. An Absolute Source can always be treated as a companion and can thus support a companion encoder state. Note that the companion encoder state does not consider halfcycle state that may be relevent to an absolute encoder.

Available States

The m-script motohawk_flexible_encoder_compstate_enum enumerates the state value.

Zero Speed (value=0)

The encoder source has observed the Zero Speed timeout since a tooth was last observed on this source.

Rotating (value=1)

Rotation has been detected on the source, but that source has not yet achieved synchronization.

Synchronized (value=2)

The source is rotating and has synchronized (a synchronizing key has been recognized by the source).