[techkid86]

what's the business end of the motor connected to?
the motor is connected to a gear box, where it interacts with the wheel. the encoder and wheel are in a 1:1 ratio, but the motor spindle to encoder is not. i'll find out what it is if you need it.


are you getting a proper signal from the encoder? e.g. if you run the motor open loop and just read the encoder value, does it change linearly with the open-loop voltage supplied to the motor?

we thoroughly tested the encoder before hand, and all funtions seemed to work fine.



I assume you mean from from WPIlib?
yes


0 and .3 what? fraction of 100% command?
yes. as the jags take an input value of -1-1, i assumed that that was the what the setpoint was supposed to be in.


you need to scale the encoder signal so that it corresponds to the setpoint. otherwise the PID cannot form a proper error signal.

ok, how would i find out what that is? I assume that that is the SetDistancePerPulse function?

anything else?