I am trying to write a brain that will compare the counts on encoders on each screw of a two screw gantry and issue an e-stop if they differ by more than a certain number of counts. This is used as a control to keep from racking the gantry if a motor starts skipping steps on one of the lead screws. I believe I know how to do this, except for establishing the initial count for the encoders. I would like to zero the encoder counts when the system is in an e-stop condition. There is a "zero" button on the Settings screen (one zero button for each X, Y, and Z encoders), bi I cannot find a brain button to do that. I believe EncoderCnt 0 corresponds to the x-encoder in the brain. I am also a bit confused by the fact that you can configure 4 encoders in the Pins and Configuration screen, but there are only 3 (X,Y, and Z) encoders shown on the Settings screen.
Any help will be greatly appreciated.