[ozrien]

Are you using getEncPosition() or getPosition()? The former only updates every 100ms, which explains what you saw. The later every 20ms.

The signal is updated in the Talon pretty quick. Say 100us after receiving the can frame to be safe. And the setPosition(0) immedietely sends a can frame to the talon.

But the getters only get periodic updates over CAN Bus. If that's a problem you can increase the frame rate of the corresponding message.