how to setup the encoder?

How would you setup the encoder and place it in the robots
and how would it work?

To which encoder are you referring?

How do you set up the US Digital E4P encoder? We also need the sample program in C++ to control the encoder.

Are you asking about mounting it mechanically, or about connecting it electrically?

Electrically, it has four wires. The “A” signal, +5, and GND go to one DIO connector on the Digital Sidecar; “B” goes to the SIGnal pin on another DIO connector.