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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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it isn't about the technology but about the teams working together. Sneaky GDC has done it again. - dtengineering [more] 
18-03-2010, 00:09
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