[Jon Stratis]

Feel free to send my team an email (2177 (at) therobettes.com)... we've been doing work with encoders for a while now, and are actually right now working on using them for feedback in a swerve drive robot (at our last meeting, we had just gotten everything set up to find our PID constants for the speed encoders, and we should be working on finding them this week). You're a little outside the cities, but if you wanted to come over to our space we could spend some time going over what we know and how it all works.

Feedback loops are a fairly complicated subject, and in my experience don't transfer well over a forum. Look at the PIDController object and google a white paper "PID Without a PhD" to get started, and we're certainly willing to help!