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wezhunter / ESP32_LinuxCNC_MotionController_RealTime

ESP32 hardware based real-time LinuxCNC motion controller
GNU General Public License v3.0
13 stars 8 forks source link

Feature: Controller - Add Encoder support with low-latency feedback to LinuxCNC #13

Open wezhunter opened 6 months ago

wezhunter commented 6 months ago

Allow for Encoders to be attached to the controller (pin dependant) and provide low latency feedback to LinuxCNC host without impacting motion control.

Test and validate LinuxCNC controlled closed loop control system (PIDs etc) Useful for Lathes, Ridging tapping where a motor speed control has to be precisely monitored. Additionally, a multi-axis precise motion control solution would be ideal, if possible

See #3

wezhunter commented 5 months ago

Test build proof is below. Needs more refinement and likely EtherCAT support to really be beneficial or of any real world use.

4 axis encoders tested and performs well. UDP latency does impact encoder feedback latency when motion is running at high speed 30khz+ per axis. Hence EtherCAT

6 axis remains to be tested on the S3

https://youtu.be/yj95752KbJ4?si=uasDoXbwDzAhBbn-