Lever-axis encoder¶
Optical kit encoder. Its A and B channels reach the board's encoder input and are counted by the TMC5130A, not by the RP2040; the firmware reads the count over SPI.
| Vendor | US Digital |
| Part number | E4T-200-157-S-H-M-B |
| Datasheet | mouse-joystick-pcb/docs/datasheets/encoder.pdf |
| Where | one per station |
| Model nodes | US DIGITAL E4T-200-157-S-H-M-B:* |
Connection¶
| Board | Connector | Cable |
|---|---|---|
| mouse-joystick-pcb | J1103 |
Joystick harness (motor, encoder, limit switch) |
Circuit¶
Schematic block motor_encoder_switch/quadrature_encoder_input_5v_sn74lvc2g17 on the joystick board: its page on the board's site has the schematic, the parts with their sourcing, the ports and where the block sits on the board; the interface map and the schematic PDF at the tagged revision cover the rest.
Firmware¶
Files: mouse-joystick-firm/src/TmcMotion.hpp, mouse-joystick-firm/src/Conversions.hpp
Protocol: STATUS (angle), ev TARGET (protocol)
Proved by: mouse-joystick-firm/examples/MotionAndHoming, mouse-joystick-firm/docs/motion-bringup.md; measurements in the bring-up log by board serial.
To confirm¶
- The model names a 200 CPR disk (E4T-200) while the bring-up log confirms 1000 CPR against 51200 microsteps per revolution; which part is fitted?
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