I'm using just one wheel:
// Get motor encoder value
bala.UpdateEncoder();
encoder = bala.wheel_left_encoder;

i actually wrote test. And it produce surprisedly big number: ~400. It is pretty difficult to adjust wheel to exactly same position after 1 revolt. So the value vary like: 415, 410, 412 ...

The question is : how exactly many pulses produce encoder per 1 full revolve of the wheel ?