Ok - another crazy idea from the popcorn gallery. To use an analogy, Gecko Stepper drives work some math-o-magic in the internal FPGA to transition from 1/10 step mode to full step mode without loosing position. An idea I had was to do something like that when trying to read high count encoders at higher speeds. Once the velocity has passed a given threshold it is known which direction an axis is moving so at that point is Quad still really needed? Could you just continue to count the leading edge for A and use that for velocity tracking? I know adding mode switching check code bloats up the basic system, and maybe for parallel ports the timing may be such that you can't just pick up the leading edge. I just thought this might be a viable option for low CPU power machines such as a Raspberry Pi or BB or even an old paraports only PC. Greg
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