== Position Mode == Things needed to initialize position mode. You need to set these doubles: {{{ P = 100.0, I = 0.0, D = 0.0; }}} Change as necessary. These are *not* recommended values. Read up on PID loops as necessary. In the constructor of your subsystem, you need: {{{talon.setFeedbackDevice(FeedbackDevice.EncoderType);}}} {{{talon.configEncoderCodesPerRev(X);}}} Note that on QuadEncoders this is the nominal value, not the actual value {{{talon.setEncPosition(0);}}} This will save you a lot of future headache You need these methods: {{{ public void enable() { talon.enableControl(); } }}} {{{ public void positionMode() { talon.changeControlMode(TalonControlMode.Position); talon.setPID(P, I, D); } }}} Finally, here's some example code. To initialize it, you need to run this: {{{ Robot.SubSystem.positionMode(); Robot.SubSystem.enable(); }}} Finally, once you've initialized the code: {{{ Robot.SubSystem.(1F); }}} This will make it move one rotation.