Programming the Cypher Max

On the AMR platform, the Cypher Max connects via ROS2. Two connection options:

Via the Titan node — Set the encoder type to absolute in the Titan component configuration and enable absolute encoder mode in the Studica Hardware Manager. The Titan then forwards the Cypher Max position on its encoder topic. See the Titan ROS2 component for configuration details — m_2 in the example config shows the Cypher Max setup.

Direct VMX FlexDIO — Connect the Cypher Max PWM output directly to a VMX FlexDIO port and configure it as a duty_cycle_encoder input in the VMX HAL. The angle publishes as a standard ROS2 sensor topic.