[droswell]

The hardware can only ready encoders at a certain speed. If the encoder is spinning too rapidly, the pulses will come in faster than the FPGA can read them.

For the VEX encoder we purchased, we determined the max RPM was 1,133. Since our motor is putting out 7,000rpm, it won't work. All we have to do is find a couple of gears and get our encoder shaft attached at a lower rpm to make this work.

Since a CIM spins at 5300 rpm with no load, I suspect you will have the same problem. You will need reduce the speed of your encoder shaft with gears/belts/chain to make this work.