diff --git a/encoder.java b/encoder.java
new file mode 100644
index 0000000..7527188
--- /dev/null
+++ b/encoder.java
@@ -0,0 +1,6 @@
+DcMotor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); // tare the encoder
+
+// in opMode:
+int pos_to_go = ...; // position to go
+DcMotor.setTargetPosition(pos_to_go); // set target position, the motor will run to this pos
+DcMotor.setMode(DcMotor.RunMode.RUN_TO_POSITION); // mode run to position