### This code goes in your main .hal file
 
############# Spindle Encoder #############
# add scale and lowpass, these will be used in custom_postgui.hal
loadrt scale count=1
loadrt lowpass count=1
 
# add the encoder to HAL and attach it to threads.
loadrt encoder num_chan=1
addf encoder.update-counters base-thread
addf encoder.capture-position servo-thread
 
# set the HAL encoder to 60 pulses per revolution.
setp encoder.0.position-scale 60
 
# set the HAL encoder to non-quadrature simple counting using A only.
setp encoder.0.counter-mode true
#setp encoder.0.counter-mode 1 - alternative line
 
# connect the HAL encoder outputs to LinuxCNC.
net spindle-position encoder.0.position => motion.spindle-revs
net spindle-velocity encoder.0.velocity => motion.spindle-speed-in
net spindle-index-enable encoder.0.index-enable <=> motion.spindle-index-enable
 
# connect the HAL encoder inputs to the real encoder.
net spindle-phase-a encoder.0.phase-A <= parport.0.pin-13-in
net spindle-phase-b encoder.0.phase-B
net spindle-index encoder.0.phase-Z <= parport.0.pin-12-in
############# End Spindle Encoder #############