Questions about Encoders and PIDControllers

[Michael_Lee]

I'm attempting to implement a PID loop using Encoders and Jaguars by using the PIDController class. We've set up the Encoders to report the rate when PIDGet(); is called. (We currently don't have CAN set up, so that's not an option).

What units should the reported rate be in? Should they be calibrated using 'SetDistancePerPulse()' so they return a range from -1.0 to 1.0 (the same range the Jaguars use)? Or should I not calibrate them at all and leave the encoders alone?

If I use 'SetSetpoint(1.0)', does that mean the PIDController class will try and output some number to the Jaguars so that the encoders eventually report '1.0'?