[meltbox360]

Oh oh. It is wired to use channel B. I will disconnect that then and try as you say. The encoders are mounted on a shaft extension coming out of a cim in one case and a mini cim in another. The wheels are on this same shaft. It is supported at two points. The encoder is right over the end of the shaft extension. I saw mention of bang-bang but never really delved too much into it as the readings were a little iffy.

So essentially wheels, encoder, motor all spin same speed. The encoder is mounted with screws and sits on the end of the shaft. We are using Victor 888 speed controllers.

I will post back shortly with results.

EDIT: Is it really necessary to disconnect the B channel or can it remain plugged in some arbitrary spot? The ground and power are wired to separate wires unfortunately so unplugging it entirely is not really an option without modifying the wires.

EDIT 2: I do not know how to set the FPGA sample ring buffer. I think that in order to set the rest up I need to make the counter and do the following

SetUpSource([channel A]);
SetUpSourceEdge(true, false);

Except then I don't know what channel I drop in when I am making the instance of the Counter class. Also channel A?