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Re: Program not seeing sensor.
The 2016 FPGA samples I/O at 40MHz. That's every 25ns. That should be fast enough for just about anything in FRC,
However, if you have the Hall sensor mounted near the circumference of a large diameter wheel, I suppose it's possible that the pickup is whizzing by so fast that the electronics in the sensor don't respond to it.
What model encoder are you using, how do you have it mounted, and what is it detecting?
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