From a4cf2ea6ecb395b4855f7f434536d6bdbb90e2e8 Mon Sep 17 00:00:00 2001
From: Thad House <ThadHouse@users.noreply.github.com>
Date: Sun, 1 Jun 2025 22:24:48 -0700
Subject: [PATCH] [hal] Fix dutyCycle high time units (#8000)

The units are nanoseconds, not microseconds
---
 hal/src/main/native/systemcore/DutyCycle.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/hal/src/main/native/systemcore/DutyCycle.cpp b/hal/src/main/native/systemcore/DutyCycle.cpp
index 71f0abbbe7..03b3e148be 100644
--- a/hal/src/main/native/systemcore/DutyCycle.cpp
+++ b/hal/src/main/native/systemcore/DutyCycle.cpp
@@ -108,9 +108,9 @@ int32_t HAL_GetDutyCycleHighTime(HAL_DutyCycleHandle dutyCycleHandle,
     return false;
   }
 
-  uint16_t ret = false;
+  uint16_t ret = 0;
   *status = port->GetPwmInputMicroseconds(&ret);
-  return ret;
+  return static_cast<int32_t>(ret) * 1000;
 }
 
 int32_t HAL_GetDutyCycleOutputScaleFactor(HAL_DutyCycleHandle dutyCycleHandle,