Command Code:

cmdMO_ENC32 = 66

The Packet:

0		1		2		3		4		5		6		7
address		6		cmdMO_ENC32		moID		ENC3		ENC2		ENC1		ENC0

moID -	The channel (zero based) whose 32-bit encoder value is to be changed or retrieved.
ENC3 -	Byte 3 of the new setting.
ENC2 -	Byte 2 of the new setting.
ENC1 -	Byte 1 of the new setting.
ENC0 -	Byte 0 of the new setting.

Description:

This command is only available on BrainStem modules with the motion control feature.

The cmdMO_ENC32 command is used to access a 32-bit "odometer".  If the four-byte value is missing, the command will return a packet with the current 32-bit reading for the specified channel.

In every PID loop step, the PID routine adds the distance traveled during the last iteration to a 32-bit encoder accumulator.  This provides a method for measuring long distances.

When driving stepper motors, each step increments or decrements the 32-bit odometer.

In modes that use analog feedback, the 32-bit encoder value will be meaningless.

Changes introduced in Moto 1.0 Firmware Build 8

The 32-bit odometer value will be meaningless in encoder-based position control mode (ENCPOS).

When the command contains two bytes, the cmdMO_ENC32 code and a moID byte of 2, the reply will be eight bytes.  The first 2 bytes echo the cmdMO_ENC32 code and moID byte.  The next 3 bytes contain the lower 3 bytes of the 32-bit odometer value for channel 0.  The last 3 bytes contain the lower 3 bytes of the 32-bit odometer value for channel 1.  In the following example, the channel 0 odometer reading is 8107 (0x001FAB) and the channel 1 reading is 8160 (0x001FE0).