Assing Input Format as default for specific role

I want to be able to assign an input format profile to a specific role. On my site, only admins have the ability to use TinyMCE and therefore they should be the only ones that have Full HTML -- and it should be the default input format profile because TinyMCE is on by default.

The README.txt file for TinyMCE (excerpt below) indicates how this can be done, but it isn't explained. Can I get some guidance?

By default, Drupal uses the 'Filtered HTML' input format for adding
content to the site and this can create conflicts with TinyMCE. It's
best when using this editor to use an input format that has all
filters disabled. What I usually do is create an input format called
'Rich-text editing' and set that as the default format for roles which
use TinyMCE exclusively. To modify your input formats go to:

Administer > input formats > configure > configure filters