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Originally Posted by vamfun
Alan, all my comments are referenced to when an interrupt occurs. There is no uncertainty at that time except for what happens during the interrupt processing time.
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When the interrupt occurs is not related to when the program wants to know what the decoded position value is. Even though there might be perfect certainty at that instant, at the time the value is actually used the certainty is not guaranteed.
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In my mind , I was picturing a user derived rate on the GetDistance() output which rookie PID users might encounter using the WPI PIDController.cpp routine.
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Are you basing your preference for the "hysterical" scheme on naive rate calculations? You can put that concern aside, as the FPGA does not produce the rate spikes you were worried about.