Control testing

[theNerd]

Hey everyone. I am new to creating robotic controls using sensors - the digital encoder. I was wondering if anyone knew how to obtain the number of counts that a digital encoder gives through one rotation of a motor shaft so that I can find the "distance per count" constant for our program. Also our encoder is a 4x if that has any play on anything.

Also I wish to use the encoder as a sensor for a PID loop to control the rotational angle of a shaft. Recently I had learned of motor control profiling and I was wondering if any one could explain how this works as well as how to program it. Much thanks!

PS: I'm using LabView and Java