[ozrien]

Looking at the screenshot, you must have called ConfigEncoderCodesPerRev(360) because the CPR is updated in your self-test results. That means you are meeting the requirements in Section 17.2.1.

So that means setting soft limits, getting sensor velocity, getting/setting sensor position, and setting target position/velocity are all done in rotations/RPM and not native units. It's better explained in Section 17.2.2

If you don't call ConfigEncoderCodesPerRev() than everything goes back to native units (like last year - see Section 17.2 for details).