As a Java programmer I was upset at the lack of JavaDocs for CANTalon's, but I have found the holy grail.
http://crosstheroadelectronics.com/T...e%20Manual.pdf
This is the Software manual for the Talon SRX's. It explains how to use them in Java, C++, and LabView. This is a must read for any team using new Talons. Enjoy.