Modify the generated code as follows:

* Add the following imports:
{{{
import edu.wpi.first.wpilibj.Encoder;
import com.ctre.phoenix.motorcontrol.can.*; // for Hazelnut
import edu.wpi.first.wpilibj.Talon;         // for Macadamia
}}}

*  Declare variables for the Encoders and Motor controllers in the Robot class
{{{ 

  // Uncomment next 2 lines for PWM motor controllers (Macademia)
  // private Talon leftMotor, rightMotor;
  // private Encoder leftEncoder, rightEncoder;

  // Uncomment next line for CAN motor controllers (Hazelnut)
  // private WPI_TalonSRX leftMotor, rightMotor;
}}}

*  In robotInit() instantiate the Encoder and Motor objects
  * For PWM Motor Controller robots (Macadamia):
  {{{    
    // Quadrature encoder has A and B channels connected to DIO0,1, DIO2,3
    leftEncoder = new Encoder(0, 1);
    rightEncoder = new Encoder(2, 3);
    // 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);
  }}}
  * For CAN Motor Controller robots (Hazelnut): 
  {{{
    // 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();
    // Encoders are connected directly to the motor controllers
    leftMotor.configSelectedFeedbackSensor(FeedbackDevice.QuadEncoder);
    rightMotor.configSelectedFeedbackSensor(FeedbackDevice.QuadEncoder);
  }}}

* For PWM controller robots (Macadamia),[[BR]] 
  in robotPeriodic() display the encoder values:
  {{{
    SmartDashboard.putNumber("Left", leftEncoder.getDistance());
    SmartDashboard.putNumber("Right", rightEncoder.getDistance());
  }}}
* For CAN motor controllers (Hazelnut):  
     * First 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 [https://www.ctr-electronics.com/downloads/api/java/html/classcom_1_1ctre_1_1phoenix_1_1motorcontrol_1_1can_1_1_base_motor_controller.html#afb934a11682e710df123eec35aba1ba9 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() reset the encoder counts and start the motors:
  {{{
    // For PWM controllers (Macadamia) uncomment the next 2 lines to reset encoder counts to 0
    // leftEncoder.reset();
    // rightEncoder.reset();
    // 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
  * For PWM motor controllers:
  {{{
        if ((leftEncoder.getDistance() > 36.0) || 
            (rightEncoder.getDistance() > 36.0)) {
           leftMotor.stopMotor();
           rightMotor.stopMotor();
        }
  }}}
  * For CAN motor controllers:
  {{{
        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();
        }
  }}}