[Thad House]

There are a few things causing that. With the distance per count of 1, and a P of 1, that means anytime the encoder is off by more then 1 tick, it will run full output. I would start by setting distance per count to a real unit, such as either rotations, or inches. I would need more information to help you calculate this, but its not too difficult. Just figure out how far your device travels when you rotate the encoder 1 full rotation, then divide that number by the CPR of the encoder. I would then set your P to about 0.01, and start working it up or down from there depending on how you device is set up.