public static void getencoder() { PulseWidthpos = talon_arm.getPulseWidthPosition(); PulseWidthus = talon_arm.getPulseWidthRiseToFallUs(); periodus = talon_arm.getPulseWidthRiseToRiseUs(); PulseWidthVel = talon_arm.getPulseWidthVelocity(); FeedbackDeviceStatus sensorstaus = talon_arm.isSensorPresent(FeedbackDevice.CtreMagEncoder_Absolute); }