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If you look at the encoder velocity in halshow and its not bouncing arround near 3800 (eg its static), there are some settings missing in your hal file. I think they are covered in the Plasmac docs.
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Do you mean this ?
Should i try to paste this "somewhere" along the hal file in order for it to work?Code:loadrt encoder num_chan=1 setp encoder.0.counter−mode 1 setp encoder.0.position−scale -1 addf encoder.update-counters base-thread addf encoder.capture-position servo-thread net arc-voltage-raw parport.1.pin-04-in encoder.0.phase-A
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