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Re: Position and velocity PIDControllers using same encoder
Creating 2 encoder objects on the same pins technically would be allowed, as long as you used the DigitalSource constructors for the encoder, rather then the int constructor, and passed in preconstructed DigitalInput objects. However, this is overkill, as you can pass the same instance of an encoder to 2 separate PIDController objects. This would be my recommended way, as constructing 2 separate encoder objects actually takes away an encoder you could use for another purpose, whereas 2 PIDController objects with the same encoder object wouldn't take any extra resources.
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All statements made are my own and not the feelings of any of my affiliated teams.
Teams 1510 and 2898 - Student 2010-2012
Team 4488 - Mentor 2013-2016
Co-developer of RobotDotNet, a .NET port of the WPILib.
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