[kamocat]

I was having the same trouble with the Quadrature Encoder setting on my team's robot, but I haven't gotten around to testing it.
It may be a bug in the Jaguar firmware.

"Encoder" and "Inverted encoder" only use one channel of the encoder for speed, and assume the direction based on its output. I believe the only difference is that "inverted encoder" switches the "forward" direction for the motor, though I've no idea if this corresponds to the LED color.
One trouble with these modes is that "encoder" will always return a positive value when you ask its speed, and "inverted encoder" will always return a negative.

Quadrature encoder, however, uses both channels of the encoder to determine the speed AND direction.


As for tuning, I found (0.1, 0.05, 0) works well for my team's robot. I think this is due to the slop in the chain. On my test robot, my tuning is around (3, 0.1, 0).


One way to check if your encoders are properly connected is to try them in POSITION mode. Note that your PID coeffecients in Position mode can be significantly different from your coeffecients in speed mode, and you DEFINITELY need integral to get to your setpoint.