jschoch

%
(1 noface fix rub)
N10 G7
N15 G90 G18
N20 G21
(WHEN USING FUSION FOR PERSONAL USE, THE FEEDRATE OF RAPID)
(MOVES IS REDUCED TO MATCH THE FEEDRATE OF CUTTING MOVES,)
(WHICH CAN INCREASE MACHINING TIME. UNRESTRICTED RAPID MOVES)
(ARE AVAILABLE WITH A FUSION SUBSCRIPTION.)

jschoch

from Cheetah.Template import Template

# Template string
template_str = """
#include <stdio.h>

#ifdef __cplusplus
extern "C" {
#endif

jschoch

module quadencoderz2
    #(
         parameter BITS = 32,
         parameter QUAD_TYPE = 0
     )
     (
         input clk,
         input a,
         input b,
         input z,

jschoch

#include <Arduino.h>


#include <cmath>
#include "driver/timer.h"


// Quadrature encoder pins
#define PIN_A               (16)
#define PIN_B               (17)

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###############################################################################
## PROJECT PARAMETERS                                                        ##
###############################################################################


# Configure your project parameters here.
#
# IMPORTANT:
# If a parameter is not found here, Pose2Sim will look for its value in the
# Config.toml file of the level above. This way, you can set global

jschoch

from collections import defaultdict

import cv2

from ultralytics import YOLO
from ultralytics.utils.plotting import Annotator, colors

track_history = defaultdict(lambda: [])

model = YOLO("/home/schoch/rocm_pytorch/runs/segment/train28/weights/best.pt")  # segmentation model

jschoch

The below explaination was generated by google gemini

jschoch

ESP32Encoder encoder1;
ESP32Encoder encoder2;
ESP32Encoder encoder3;
ESP32Encoder encoder4;

Ticker readEncoders;
Ticker slowReadEncoders;

enum class InputType{
  Encoder,

jschoch

module quad(clk, A, B, Z, count, revolutions);
input clk, A, B,Z;
output [63:0] count;
output [8:0] revolutions;

localparam [11:0] ppr = 80;

reg [2:0] quadA_delayed, quadB_delayed;
always @(posedge clk) quadA_delayed <= {quadA_delayed[1:0], A};
always @(posedge clk) quadB_delayed <= {quadB_delayed[1:0], B};

jschoch

module quadencoderz
    #(
         parameter BITS = 32,
         parameter QUAD_TYPE = 0,
         parameter CLK_FREQ = 27_000_000,
         parameter PPR = 400 
     )
     (
         input clk,
         input a,