Hi Tom...........long time no talk!
Samuel H. Pendleton initially served in the Richmond Howitzers. He enlisted on December 1, 1861.
Information on his service can be found on page 89 of "Morris, Orange, and King William Artillery" by Gragory J Macaluso. It's part of "The Virginia Regimental Histories Series". As mentioned, he took command of his unit at Gettysburg and this can be found on page 47 of the same book.
Good luck with you research and Happy New Year!