Right on both counts.
Checkout Section 9 of Talon SRX Reference Manual to see how to slave Talons works.
Also Section 3.1....
Quote:
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For the robot to function properly, there CANNOT BE “COMMON ID” Talon SRXs.
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Software reference manual is at
http://www.crosstheroadelectronics.c...ol_system.html
or vex.com or google "talon SRX software reference manual".