[ozrien]

Next leave the motor controller in throttle mode, enable the soft limits and drive the motor to the forward and reverse soft limits. See if that works by itself. Use the Self-Test to confirm the soft limits thresholds.

Remember that the forward soft limit only takes effect when Talon SRX is throttling forward (green). And Reverse soft limit is in effect only when throttling reverse(Red).

Also obviously the forward soft limit must be greater than the reverse soft limit since positive drive => positive sensor position change.