#1 It seems we have encoder issues! when we start our program which attaches the encoders to buttons on a controller, after we run the sequence once a few seconds later the robot arm (which we are using the encoders on) starts violently going up and down.

#2 Also. we have tried to program the robot arm's motors with the encoders so that it gets to a specific point, but with only a 3-1 gear ratio the motor doesn't have a lot of time to spin. How exactly are the "clicks" determined?

Here is our current program

-edited out-

nvm, We solved #1.

But I still would love to know how to program the encoders to measure smaller motor movements.

Well, clicks are determined by a pattern which is imprinted on the plates that spin in encoders. So...yeah...It should be able to stop it fine.