[Oblarg]

Originally Posted by Thad House

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.

Yeah, but you can't send the same encoder object to two separate PIDController objects and have it be a kRate source for one of them and kPosition source for another. Hence the wrapper idea, which is ugly but would probably work.