[Jay Meldrum]

If you are using a digital I/O/PWM encoder here is an example of code.

(Note: we use pointers)

class BuiltinDefaultCode : public IterativeRobot
{
        
        //Declare Encoders
        Encoder *m_Encoder1;

public:

        BuiltinDefaultCode(void)
        {
                //Initialize encoders
                m_Encoder1 = new Encoder(1, 2, true);
                m_Encoder1 -> SetDistancePerPulse(1);
                m_Encoder1 -> SetMaxPeriod(1.0);
                m_Encoder1 -> Start();

                double m_Encoder1Distance;
                double m_Encoder1Rate;

		void TeleopSensorUpdater(void)
		{
			m_Encoder1Distance = m_Encoder1 -> GetDistance();  //Returns the amount of counts since the last reset
                        m_Encoder1Rate = m_Encoder1 -> GetRate();  //Returns the rate in pulses/second
		}
       }
}