scratch code for using the Talon SRX encoders

encoder.java

int circumferenceInInches = 123;
int pulsesPerRotation = 1000;

protected void function auto1() {
	RobotDrive drive = RobotMap.driveSystemdrive;
	CANTalon talon =  RobotMap.driveSystemCANTalon1;
	//Change control mode of talon, other options are Follower Mode or Voltage Compensation
	talon.changeControlMode(ControlMode.Position);

	//Select either QuadEncoder or Pulse Width / Analog, we want Quad
	talon.setFeedbackDevice(FeedbackDevice.QuadEncoder); 

	//Set the PID constants (p, i, d)
	talon.setPID(0.5, 0.001, 0.0); 

	//Set the voltage ramp rate, will go from 0V to 6V in 1sec
	talon.setVoltageRampRate(6); 

	//Enable PID control on the talon
	talon.enableControl(); 

	//What position does the encoder think it's in now?
	System.out.println(talon.getEncPosition());

	//Reset the encoder to zero as its current position
	talong.setPosition();
	
	int distanceInInches = 48;

	//Tells the talon to go to XXX encoder counts, using the preset PID parameters.
	talon.set(distanceInInches * circumferenceInInches * pulsesPerRotation); 

	finished = true;

}

// another option, call this repeatedly and when it returns true you turn off the motors
protected void function hasDrivenFarEnough(int distance) {
	int currentPosition = talon.getEncPosition();
	int targetPulseCount = distance * circumferenceInInches * pulsesPerRotation;
	System.out.println("Current position: " + String.valueOf(currentPosition));
	System.out.println("Target position: " + String.valueOf(targetPulseCount));
	if (currentPosition >= targetPulseCount) {
		return true;
	}
	return false;
}