# Encoder resolution and velocity sampling
# Scope: Quadrature encoder angular command resolution; not absolute accuracy.
# Status: illustrative worked example; engineering review pending.
# Inputs are example values. Checks are editable example requirements, not standards.

cycles = 1024
quadrature = 4
radius = 50 mm

counts := cycles*quadrature
angle := 2*pi/counts [rad]
travel := radius*angle [mm]

check linear increment budget: travel <= 0.1 mm

scenario alternative: cycles = 819.2