[Ether]

Originally Posted by btcshields6

I have Talon SRs, so I don't know whether I'll need to hook the encoders into them or the Rio.

In that case, you'll have to connect encoders to RIO. TalonSR does not have encoder input.

I don't actually have the encoders on yet. They'll be AS5145Bs.

Here's a tutorial to get those encoders up and running:

http://wpilib.screenstepslive.com/s/...control-system

Then we can talk about control strategies to synchronize the actuators.