We have encoders hooked up to our drivetrain CANTalons and were wondering if we can do set(EncoderPosition) to make the robot go a certain distance. I haven’t found a way but I may be doing it wrong.
Look at Section 10.1 in the Talon SRX Software Reference Manual.
If you want to go a certain distance while limiting max speed and max acceleration, you might want to learn about motion profiling.
The “correct” way is to put the Talon SRX in position control mode and tell it to run to the target encoder position using its internal closed-loop programming.
The easiest way might be for your own code to read the encoder position and run the motors until it reaches the desired value.