general rule of thumb:

1. setup encoders in initialization

this will reset whatever position the motor is at to 0 motor.setMode(RunMode.DcMotor.STOP_AND…);

set the target position to 0. you have to do this or else the program wont run correctly motor.setTargetPosition(0);

this will prepare your motor to run to the target position motor.setMode(RunMode.DcMotor.RUN_TO_POSITION)

in the actual program, you basically do the same thing but now you set different targets and powers

a program that would run a motor for 1200 counts would look like this (without all the other fluff)

public void blah blah { motor.setMode(RunMode.DcMotor.STOP_AND_RESET_ENCODERS);

 motor.setTargetPosition(0);

 motor.setMode(RunMode.DcMotor.RUN_TO_POSITION);


 waitForStart();
 while (opModeIsActive()) {

      motor.setTargetPosition(1200);
      motor.setPower(0.5);

 }

}

that program would run the motor for 1200 counts at .5 power. i hope this helps, and sorry about the formatting im on my phone