Equal Motor Output with Encoders Help

[Gunnar Frahm]

The motors are connected to the same shaft on opposite ends that is supposed to rotate the arm. When the motors run at 100 percent to rotate the shaft one turns at 62 rpm +/- 3 rpm and the other runs at 65 +/- 3 rpm. So, when I move the arm the slower motor drags the other one behind. The arm we are trying to rotate has to be able to lift a lot of weight, so it is a problem when the motors fight each other. I saw something in other threads about calibrating speed controllers. Can you do that with Talon SRX's? We use talons utilizing CAN bus for communication. So far in the user manuals I haven't seen anything about calibrating them.