[mikets]

Still, there are many variations of using encoders. For example, do you care uisng PID? How many encoders do you have? One for left wheel and one for right wheel? Do you have mecanum wheels? In the simplest, your code should look something like this:

In some periodic function or in a loop:
if ((leftEncoder->GetDistance() + rightEncoder->GetDistance()) /2 < targetDistance)
{
    ArcadeDrive(0.5, 0.0);
}
else
{
    ArcadeDrive(0.0, 0.0);
}