Shaft encoder with input capture

• Generate an interrupt on every pulse

• Set up to interrupt on rising edge pulses on input capture 2

  • poke (InterruptReg, inputCapture2)
  • poke (TimerControl2Reg, (risingEdge << inCapture2BitPosition))

• Register interrupt handler

  • poke (InterruptVector, pulseCounterHandler)

• Interrupt handler

  • pulses = pulses + 1
  • poke (InterruptReg, ClearPulseInterrupt)

• Get velocity and clear count

  • velocity = pulses
  • pulses = 0

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