Units of Speed for Talon SRX

[StealthRobotics]

The Talon SRX has a mode that allows use of PID to control speed. What unit is the speed? I would assume revolutions per minute, but I wanted to verify before I run the robot into any walls at high speeds. Thanks!

[Alan Anderson]

The second paragraph of Section 17.1 of the TALON SRX Software Reference Manual says

The velocity units of a Quadrature Encoder is the change in Encoder Position per TvelMea
(TvelMeas=0.1sec). For example, if a US Digital Encoder (CPR=360) spins at 20 rotations per
second, this will result in a velocity of 2880 (28800 position units per second).