[kenavt]

When it comes to getting the shooter velocity, we have a prox sensor that registers one raised edge per shooter rotation, and then we use the Counter class in LabVIEW to handle the input. This uses the FPGA to calculate the MS time between raised edges of the input (don't have access to the code and the specific VI) and we just convert that to RPM.

Something like that may be possible with these encoders, if the FPGA can register all of the raised edges. The only issue we have found is that we occasionally get very large times resulting in astronomical RPMs (nearing 100,000 I believe). We just throw those out and feed in the last code cycle's RPM value.

It doesn't look like I'll have a chance to write code to test, or use Bill's, on a robot before Championship.