[j.cole]

Uh this is a bit complex because of the number of motors but Ill try.
The two things that I need to know are what is controlling the motors (if at all possible use speed controllers (we use victors so I don't know the can system on jags if you need can). Also do you have encoders/potentiometers attached (the only way this will be possible)?

(will only work with speed controllers) Now to have set positions (you will need 6) what I did is to have a toggle between middle and outside columns and then 3 buttons to designate which row. Then make a case statement decided by a Boolean array with what values you want (it will come out in binary into the case). now wire a PID (wiki it its kinda complicated) VI outside of the case with your encoder values going to the process variable and some numerical value inside going to the setpoint. Then the output to a motor set vi. You will need to do this 3 separate times i think. (I know im forgetting something but Ill post a pic of my 2 motor system code for you to look at)

If you just want a manual control with speed controllers (which since your new to this is suggested). You just wire whatever axis you want to control the motors to the input on the motor set.

If you need further help I'm willing to post pictures. I guarantee I left something important out.