i have read tinyg2 code but i was not able to understand many of its functional principal where there is no documentation available which describes that how many cpu processing power is used to run tinyg2 how many timers are used for code execution and what is interrupt interval rate for stepper pulse generation still not able to understand that how to add encoder position feedback and where to add it? is there any free timer/counter modules available for hardware quadrature encoder decoding interface to read spindle speed in real time
tinyg2 have quite moderate code structure and for 5th order motion planning make it unique to other open source motion controller i have build dc servo controller with xmega controllers for close loop position control
now i am expecting to add spindle closed loop control in tinyg2 where my goal is to read spindle encoder via due timer/counter module execute pid filter and output analog voltage on dac0/dac1 pin to do so i need answer to above asked question then i will going to add G33 gcode function in tinyg2
waiting for quick help thanks
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