PID with encoders

[hades948]

We cannot figure out exactly how to set up the PID using the Talons. We've been looking through the documentation for the PID in the talons. We do not understand how the PID knows what the encoder position is and what the ticks per revolution is set to. Is there somewhere we can pass that information to the talons or do they magically know?

Thanks!
Tyler Royer (FRC Team 3591)
EDIT: we are using mecanum drive and cant figure out how PID interfaces with mecanum in robot drive