My team is new to robotc and were trying to figure out if there was a way to during driver control. Click a button on the controller and then the robot would use the shaft encoders to turn the motors to pre set ammount. And that if we had already turned the shaft it would not turn 10 on top of the 3 it already turned but 7 because we already turned it 3.
One common way of achieving this would be to reset the encoder value back to 0 before using it for further comparisons. Search through the forum, there are many examples of using encoders.