My team this year has an elevator system and if the elevator reaches the top position it begins to fall down due to gravity. In the Phoenix Tuner I made the Talons to Brake Mode. Is that all I have to do or do I need to add code. Also we have a limit switch at the bottom. So that when it hits the bottom I can clear all of the encoders, how would I add that in the code. I can’t find any examples online. Help is appreciated!