This PR implements a new mode for the encoder. Instead of reporting the absolute radial position, it now reports displacement correcting around the 0->2pi transition.
This mode can be enabled by setting the register 83 to 0 (position mode) or 1 (displacement mode)
This PR implements a new mode for the encoder. Instead of reporting the absolute radial position, it now reports displacement correcting around the 0->2pi transition.
This mode can be enabled by setting the register 83 to
0
(position mode) or1
(displacement mode)