Talon SRX Closed Loop

[ram112358]

I'm having some troubles getting a closed loop position control loop set up running on a talon SRX. I'm using Java and after searching on delphi and else where I can't seem to find a solution for my problems.

I'm trying to use the closed loop position control function that runs on the Talon SRX. I've read any documentation I can find on it and I'm certain that I have the encoder plugged in correctly to the breaker board. The code is currently set up to run off of half of our tank drive from last year to be sure there is no damage done to our lifter. We are using the new KOP router and the RoboRIO was flashed at the beginning of build season with the latest image and all the talons have the newest firmware as well.

With my code (attached) I can run the "lifter" off a joystick and watch the encoder value change as I do so. When I press the button to run my command that should run the pid functionality and through the RoboRIO web interface I can confirm that the Talon goes into closed loop position mode and that my PID values are actually sent to the Talon. However, when I push said button the "lifter" just runs full speed forward regardless of the relation between the value of the encoder and the set value.

Is there any insight you can give me into this or what's going on or resources where I can learn more about how to address this problem?

Thanks in advance for your help.

Link to zip of project: https://drive.google.com/file/d/0B32...ew?usp=sharing