am-2899 Absolute Encoder

[Jared Russell]

Originally Posted by Ether

...but the FRC FPGA code does not support PWM decoding.

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The FPGA does support this, though the documentation for the semi-period mode feature (at least in the Javadocs) is misleading.

There is more accurate documentation here:
https://wpilib.screenstepslive.com/s...using-counters

I verified last night that I was able to use a pair of counters (one in semi-period mode capturing the rising-to-falling period, and one in normal mode for capturing rising-to-rising period) to measure the duty cycle of the 12-bit PWM MA3.

</off-topic>