I had a question about the SRX breakout board for the new talon. Located here
http://www.vexrobotics.com/217-4398.html
TChey way I understand it is you could add an encoder right to the tallon and it woudl process the signal on to the CAN bus.
Correct me if I am wrong, the encoder would still be on the mechanical side to monitor the actual movement of the saft it will just feed data to directly the controller instead of directly to the myrio.