PWM input question

Can RCM3100 read sensors which output signals of PWM type? I think the Basic Stamp has a built in command where it just reads the sensor and gives a number out which magnitude is dependant on the pulse width of the signal. Can this be done with Rabbit 3000? If not what is the best way? In the documentation the only thing I came across that’s close enough is Input Capture, but can’t figure out how to use it. Any advice?