Talon SRX PID parameters

[kmrchiefdelphi]

Hi. First timer here.

We are attempting to use the PID functionality of the Talon SRX and am confused about the magnitude of the parameters to be used in the SetPID method. We are using a Quadrature Encoder.

From the 'Can Talon SRX PID' example C++ code it states, just before the call to SetPID:
// These values are in units of throttle / sensor_units where throttle ranges
// from -1023 to +1023 and sensor units are from 0 - 1023 for analog
// potentiometers, encoder ticks for encoders, and position / 10ms for
/ speeds.

And in the CanTalonSRX.h is states:
* P gain is specified in throttle per error tick. For example, a value of 102 is ~9.9% (which is 102/1023) throttle per 1
* ADC unit(10bit) or 1 quadrature encoder edge depending on selected sensor.

Since we are using a Quadrature Encoder are we correct in assuming that the values for P, I and D should be integer values, according to the comment above, 'encoder ticks for encoders'?

Our tests using integer values did not work. When we used PID values all less than 1.0 we had better results but the encoder never reached the set point. Any ideas?

Thanks in advance.