encoder PIDController and set

[bmfrc]

Hi,

I'm trying to figure out the how to operate and use an encoder to maintain speed on our shooter.

1. SetDistancePerPulse() - If our wheel circumference is 10cm then we should set SetDistancePerPulse(10/NUMBER_OF_PULSES). Using the GetDistance() will get the total distance in cm and the getrate() will get the cm per second. is that correct?
   
   
2. pulses - We are using http://www.andymark.com/E4T-OEM-Mini...-p/am-3132.htm.
   The spec indicate:
   Cycles per Revolution: 360
   Pulses per Revolution: 1440
   Which one should we use? when we use 10/1440 we get rates and distanses that doesnt make sense. my feeling is that 10/250 make more sense.
   
   
3. decoding scale - what exactly is the decoding scale and how does it affect our calculation?
   
   
4. PIDController.SetSetpoint() - If we trying to get 10cm per second should we set PIDController.SetSetpoint(10) ?
   
   

Thanks a lot for your help!