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Download the Projekt from Github:
https://github.com/AlexmagToast/Linux...

This Projekt enables you to connect an Arduino to LinuxCNC and provides as many IO's as you could ever wish for. This Software is used as IO Expansion for LinuxCNC.

Chapters:
00:00 Intro
00:39 setup of encoders
04:30 Encoder MPG / counter mode
06:18 hal example MPG
09:54 Encoder up / down mode
10:36 hal example up / down
13:00 setup of Joysticks
18:23 hal example Joysticks