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Re: encoder for cam-driven kicker?
A quick look at the C++ WPILib Encoder class source code suggests that it uses a 32-bit register (INT32) in the FPGA. There is no accounting for overflow that I see (but you might have a tough time overflowing 32 bits in a match with a reasonable application). You can reset the count with the Reset Function (it actually strobes a reset line). Since you probably will not overflow it you might as well just mod the encoder count by the number of ticks in a full cam revolution (plus whatever offset you need to find your stoping spot).
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Electrical & Programming Mentor ---Team #365 "The Miracle Workerz"
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2007 CMP Chairman's Award - Thanks to all MOE members (and others) past and present who made it a reality.
 Robot Inspector
"I don't think I'm ever more ''aware'' than I am right after I burn my thumb with a soldering iron"
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