Modify the generated code as follows:

• Add the following imports:

  import com.ctre.phoenix.motorcontrol.can.*;
  import com.ctre.phoneix.motorcontrol.FeedbackDevice;
  

• Declare variables for the Motor controllers in the Robot class

     private WPI_TalonSRX leftMotor, rightMotor;
  

• In robotInit() instantiate the motor controller objects

    // CAN motor controllers connected to CAN bus (addrs 3,4)
    leftMotor = new WPI_TalonSRX(3);
    rightMotor = new WPI_TalonSRX(4);
    // clear any previously configured settings
    leftMotor.configFactoryDefault();
    rightMotor.configFactoryDefault();
    // Quadrature encoders are connected directly to the motor controllers
    leftMotor.configSelectedFeedbackSensor(FeedbackDevice.QuadEncoder);
    rightMotor.configSelectedFeedbackSensor(FeedbackDevice.QuadEncoder);
    // Reset encoder counts to 0
    leftMotor.setSelectedSensorPosition(0);
    rightMotor.setSelectedSensorPosition(0);
  

• Add the following new method to the Robot class:

     double raw2inches(int raw_count, int counts_per_rotation, double wheel_diameter) {
        return (raw_count / counts_per_rotation) * (3.141492 * wheel_diameter);
     }
  

• Add the following to the robotPeriodic() method; note the use of the ​getSelectedFeedbackSensor() method of the motor controller object which returns raw encoder counts:

     // Encoders connected to CAN controller return raw counts
     int l_raw = leftMotor.getSelectedSensorPosition();
     int r_raw = rightMotor.getSelectedSensorPosition();
     // display distances on smart dashboard
     SmartDashboard.putNumber("Left", raw2inches(l_raw, 360*2, 7.5));
     SmartDashboard.putNumber("Right", raw2inches(r_raw, 360*2, 7.5));
  

• In autonomousInit() start the motors:

    // start motors turning forward at 20% power
    leftMotor.set(0.20);
    // to go forward, left motor turns clockwise, right motor counter-clockwise
    rightMotor.set(-0.20);
  

• In the default section of autonomousPeriodic() stop if we've gone the desired distance. Notice our first use of the logical OR operator (||) to test whether either of two conditions is true

        int l_raw = leftMotor.getSelectedSensorPosition();
        int r_raw = rightMotor.getSelectedSensorPosition();
        if ((raw2inches(l_raw, 360*2, 7.5) > 36.0) || 
            (raw2inches(r_raw, 360*2, 7.5) > 36.0)) {
           leftMotor.stopMotor();
           rightMotor.stopMotor();
        }
  

For the complete Robot.java code, see here