I looked at the Talon SRX Software Reference Manual and ... it went way over my head. all tho it explains a bit, it is still vary confusing.
I did fail to mention the use of the encoder

The use of encoder is to record the rotation of the end of a shaft to a gear that is attached to our shooter to record the angle of the shooter to set to different settings of angle for different distances.
Also. Does the transfer cable need to attach to the Talon it is using to supply power to the motor.
Thx.