Back in January you mentioned looking at these motors, which do seem to have 16 pulse-per-rev encoders. I’m not clear about what changed between then and now, but I know the sprocket-turn buttons you’re using to turn the motors make use of the chain pitch, sprocket teeth to calculate how much to turn the motor shaft, and the encoder pulse settings to let the PID code watch for the appropriate amount of rotation.
If you’ve found a value for the encoder pulse that works, that’s good.
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