Trying to set up Talons/Encoders

I’m a programmer from Team 564 and this is the first year we are trying to properly use encoders with Talon SRX’s. We have set up 4 Talons for our drive train, two on each side. We have set one one on each side to follow mode to make our lives easier. Our issue is that we do not know how to go about using the encoders or Talons in trying to set up PID’s. We want to evenly distribute voltage, have the robot travel a set distance, and drive evenly. If anyone could please give us some direction, it would be much appreciated.

The Phoenix Framework Documentation is probably to get all of the information you need to program the Talons you have.