TalonSRX PID loop documentation outdated?

Using the Talon SRX Software reference manual, I am trying to utilize the PID loop function but I believe it is outdated. No documentation I find includes anything about establishing a CANTalon instead of using a TalonSRX


(under 12.8)

Where would I find up to date documentation about running the TalonSRX’s preexisting PID loop?

https://phoenix-documentation.readthedocs.io/en/latest/ch16_ClosedLoop.html