How to program Encoders with PID Subsystem

[admrialkunkka]

If we could get both general information and specific help that would be great. We have created an encoder object in our PID subsystem drive train, for testing purposes we have only created one and we are only dealing with one encoder. We are fairly lost on what our P I and ad constants should be and we have only been getting a PID output of one with our encoder.pidGet in our return statement for the returnPIDInput method. I can post a copy of the code we have done so far if it will help.