In the user guide referring to the WAIT command it says "Unless otherwise programmed with
the PID# command, the sample rate is about 4KHz". Does that mean it is some known value close to 4kHz, or does it mean it's somewhere around 4kHz but the exact rate is undefined or variable?
I am intending to use the sample clock to create some velocity profiles with accurate timing so obviously it's quite important!
I notice that in the example program for measuring execution time you have the following line:
d=c/4069 ‘Divide by sample time to get seconds per 1M operations
which implies the clock is running at 4069 Hz. Should that be 4096? It seems like a more sensible number, being 2^12.
For Class4 motors, the default is 4KHz. 4069 is the correct number though that is confusing to those that are used to 12-bit analog systems. WAIT=4069 is one second.
The Class5 motors default to 8KHz.