[AustinSchuh]

I was talking with Brad Miller last night, and there is a 4 encoder limit. With the newest version of WPILib though, there is an optional parameter you can pass to the constructor that will let you have more than 4 encoders.

The parameter is "EncodingType encodingType". The documentation in Encoder.cpp is pretty good in this respect and from it you will be able to figure out the side effects of initializing an encoder with the k1X or k2X flags instead of the default k4X flags.