Domachuan encoder needs to write a program. Domachuan encoder completes instructions according to the written program. Mo Chuan encoder receives and uses the received FIFO interrupt, and it takes about 50 to 60 microseconds to read all encoder data at once, so the location request update is set to 10Khz. If the processing speed of the chip is slow and the FIFO depth is small, it needs relatively simple data processing code, otherwise it will lead to the delay of position update.