pic: All Done!

[TheVoid]

As for performance, they work brilliantly!

Interestingly, these encoders have the option to select the output resolution. This becomes handy when you're dealing with the FPGA's encoder counting, seeing as it's only able to count about 38,000 counts per second with a quadrature signal, so the factory setting of 2048 lines per rev was just a bit too high. Currently, i have them set to 256 counts/rev and it tracks pretty reasonably even with the motor turned to 11. (or 12.9 as it may be)

They're pretty accurate by my tests so far. Assuming we're not going too fast for the FPGA, it doesn't seem to lose count at all. I wouldn't be uncomfortable with popping these things in for position control if need be.

We currently don't have any CAN system set up to test them with a jaguar in PID control, but doing it in the FPGA seems to be working pretty well. Ideally, we're going to be using CAN Talons this season, although having the FPGA as a fallback should be nice.