I still can’t figure out where the problem is with the micro (I can’t read the encoder except when I’m debugging, it’s such a nonsense…), but in the meanwhile I have put together the new parts…
I have tried the motor, which is rated 30V. I am using a 2A power supply, so I’m limited to that… and with more than 500mA (the voltage goes to a few volts) I can’t move the yoke! There is plenty of torque there, and the movement is completely smooth (except for the dreadful rails, I’m definitely going to get rid of those).
Now I need to find the way to get the encoder working (I’m using it instead of the potentiometer) and I will be able to receive the torque setting from the main board with the USB and the main program.