Help with CAN/ JAG encoder settings

[PhilBot]

Is there a description anywhere that outlines how the various CAN based Speed/ENcoder control settings work?

I've just installed US Digital encoders on a pair of Swerve drives and I've been playing with JAG test application. It seems like I can change the Encoder count and PID gains to move from a herky jerky control to a pretty smooth control.

But I'm not sure how this will manifests itself once I switch to LabVIEW.

eg: If I set the encoder count value to 1440 (US Digital output) I can send the CAN a speed request to 60 (rpm) and the wheel spins too fast but smoothly. If I set the encoder counts to 360 the wheel runs at the correct speed, but very jerky.

ANyway, I seem to get smoother control over the full range of speeds if I use a higher encoder count value (even if I adjust the PID gains accordingly).... but I feel that I'm just guessing, and I don't know what will happen once I switch to LabVIEW. eg: what value do I send the Drive VI? +/- 1 or RPM?

How does it know what Speed I want? Will it mimic the JAG test app?

Also, can I use the encoder counts to measure distance if I'm using them to control speed.

Phil