[Gdeaver]

Right now I would say the answer to you question is " I don't know". I have not seen any documentation on the new can controller that details the firmware on the controller. It would be allot to ask for the controller to handle timing of a PWM signal, Modulo math and be 5 volt tolerant. The hardware is most likely able to do what you want but would require CRE to write some very specific firmware. If they did include this type of control option, they would probably do it for an analog sensor output. This would still have the problem that most absolute affordable analog rotary position sensors are based on 5 volts and they most likely have a 3.3 volt chip in the controller. So right now I would not plan on closing the loop on the can controller. Why did you choose a PWM solution? We have used an analog voltage sensor and it works fine. I don't like ma3's. 0-5 volt can give noise error at the bottom and they are a little sloppy at the top. The sensor we use is .25 to 4.75 V output. We had problems with static electricity and the MA3s years ago. Do not know if they have improved. There are cheaper options. While pricey, there are some nice SPI based rotation sensors on the market. They eliminate the analog ratiometric issues and allow the 0-360 point to be programmed. Gives a software calibration as opposed to mechanical calibration. I would not want to go into build season with out a working swerve module and developed software. Even with a mature module and software, swerve puts a severe load on the team resources. In my opinion, any team that does not have a working swerve platform by now or in the next couple of weeks, should put it aside and go forward as a 2015 off season project. An off the shelf frame and 6 cim tank drive can meet the needs of many teams. Even after a team gets a working drivable swerve system, the hard work begins with driver training.