How to Cancel a PID on a CAN Talon SRX?

We an arm on our robot and we can raise/lower i fine using a Position closed loop.

When we press a Button 1, arm goes up 10 Degrees say.
When we press a button 2, arm comes down 10 degrees.

But when arm comes down to its home position (bottom most down), how do we cancel the PID, so the motor and talon both stop putting a throttle?


Put the Talon SRX into %Vbus mode and command a speed of 0.

Another option is to use a soft limit.