ChangeControlMode RobotDrive CANTalon
 

We have encoders hooked up to our drivetrain CANTalons and were wondering if we can do set(EncoderPosition) to make the robot go a certain distance. I haven't found a way but I may be doing it wrong.

Re: ChangeControlMode RobotDrive CANTalon
 

Look at Section 10.1 in the Talon SRX Software Reference Manual.

If you want to go a certain distance while limiting max speed and max acceleration, you might want to learn about motion profiling.

Re: ChangeControlMode RobotDrive CANTalon
 

The "correct" way is to put the Talon SRX in position control mode and tell it to run to the target encoder position using its internal closed-loop programming.

The easiest way might be for your own code to read the encoder position and run the motors until it reaches the desired value.