[Joe Ross]

There is no direct way, as there is no feedback from the Talon. The only FRC legal speed controller that supports this type of feedback is a Jaguar using CAN Bus.

You can either add a sensor, or possibly utilize an existing sensor. For example, if you have an encoder on your drivetrain, you can move the drivetrain at a low speed for a short time, and verify that the encoder reading changed. Alternately, you could add a voltage or current sensor to the output of the Talon.