Encoder

[legts]

What our electrical team did was they wired optical encoders onto the axel and into the jag. Inside of the DriveTrain subsystem, I called a method on each of the jags to inform them that they have encoders. That portion of code looked like this:

rightFront.setPercentMode(CANJaguar.kQuadEncoder, encoderCounts);

Below that, I enabled encoder control on each of the jags:

rightFront.enableControl();

I was then able to use the encoders in other programs.

I wouldn't know without looking at the javadocs, but if I were to make an educated guess I would say that setting up encoders would be similar to this but with talons instead of jaguars.