Here is the encoder we used on the wheel.
We now know that this is not the encoder we should have been using, because they get destroyed so easily at this high of RPM, which was direct driven on the Mini-CIM (6500 RPM I believe)
Ben and I are not programmers, so we will have to get back to you on how they coded the encoder.
The problems were in the Side Car I believe though. We could use the exact same encoder, with out modifying anything else, and change the ports it was plugged into and it would work.
I installed all of our encoders my self, and made sure the disks were clean, they were spaced properly (which for some reason wasn't properly spaced using the spacing tool, because the encoder wouldn't read the disk when we used it), the disk was properly on the shaft (100% sure about that) and the wires were properly plugged in. There was one time which we destroyed the surface of the disk, replaced it and worked again.
By the way, 772 won't be using these encoders again by choice. They are unreliable and too sensitive for our applications in FRC. I would recommend using more durable encoders for the FRC.