[curtis0gj]

Originally Posted by Joe Ross

You should use 360 pulses in a full revolution, but it will increment in 1/4 increments in 4x mode. In addition, you'll want to take into account any gearing between the encoder and the wheel.

    public static final double encoderGearRatio = 3;

Thanks so much this helped clarify things greatly. I just have two questions. First, I am trying to figure out if I should be using the k4x or k1x I am not sure I understand that 1/4 increments part you were speaking about. I was wondering if I needed to use k4x or k1x for this math. Second, I am trying to figure out what the encoderGearRatio double is for. Does it have to do with the shaft the encoder is mounted on. Thanks.