Modify the generated code as follows:

* Add the following imports:
{{{
   import edu.wpi.first.wpilibj.Encoder;
   import edu.wpi.first.wpilibj.Talon;
}}}

*  Declare variables for the [https://first.wpi.edu/FRC/roborio/beta/docs/java/edu/wpi/first/wpilibj/Encoder.html Encoder] and [https://first.wpi.edu/FRC/roborio/beta/docs/java/edu/wpi/first/wpilibj/Talon.html Talon] (motor controller) objects in the Robot class
{{{ 
   private Talon leftMotor, rightMotor;
   private Encoder leftEncoder, rightEncoder;
}}}

*  In robotInit() instantiate the Encoder and Motor objects
{{{    
   // Quadrature encoder has A and B channels connected to DIO0,1, DIO2,3
   leftEncoder = new Encoder(0, 1);
   rightEncoder = new Encoder(2, 3, true); // right side direction is reversed
   // Peanut wheels are 7.5" in diameter
   // Encoders provide 1 count per degree of rotation
   leftEncoder.setDistancePerPulse((3.141592*7.5)/360);
   rightEncoder.setDistancePerPulse((3.141592*7.5)/360);
   // PWM motor controllers connected to PWM0, PWM1
   leftMotor = new Talon(0);
   rightMotor = new Talon(1);
   // right side must turn in opposite direction
   rightMotor.setInverted(true);
}}}

* In robotPeriodic() display the encoder values:
{{{
  SmartDashboard.putNumber("Left", leftEncoder.getDistance());
  SmartDashboard.putNumber("Right", rightEncoder.getDistance());
}}}

* In autonomousInit() reset the encoder counts and start the motors:
{{{
  // Reset encoder counts to 0
  leftEncoder.reset();
  rightEncoder.reset();
  // start motors turning forward at 20% power
  leftMotor.set(0.20);
  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
{{{
  if ((leftEncoder.getDistance() > 36.0) || 
      (rightEncoder.getDistance() > 36.0)) {
      leftMotor.stopMotor();
      rightMotor.stopMotor();
  }
}}}

For the complete Robot.java see [wiki:ControlSystems/SoftwareTeam/Training/GettingStarted/Autonomous/PWMCode here]