[Ari423]

The setpoint is just the value of the process variable that you would like to motor to turn to. If you are measuring motor rotation using an encoder, the encoder gives you degrees per second. You would then numerically integrate this (sum all of the values) to get degrees of displacement. The setpoint should be however many degrees of displacement you want your encoder to measure. (NOTE: this may be different from how many times the motor turns depending on your encoder setup)