JAVA PID with Encoders

[Mk.32]

Hello all,
We were able to get the PIDController to work great with the gyro but are having problems with the encoders.

Here is the part of the code we are using: the problem is when I run autoN it does nothing. The Output class doesn't print nor does the robot move.

package TestRobot;
import edu.wpi.first.wpilibj.*;

public class RobotMain extends IterativeRobot {

public static LinearVictor VictorLeft = new LinearVictor(1);
public static LinearVictor VictorRight = new LinearVictor(3);

Encoder LeftEncoder = new Encoder(4,6,4,7,false,CounterBase.EncodingType.k2X );
PIDEncoderClass PidWriteEncoder = new PIDEncoderClass();
PIDController PidEncoder1 = new PIDController(0.1,0,0,LeftEncoder,PidWriteEncoder) ;

public void robotInit() {
System.out.println("ROBOT IS ON.");
LeftEncoder.start();
}

public void autonomousPeriodic() {
System.out.println("AutoN");
PidEncoder1.enable();
PidEncoder1.setSetpoint(10000);
}

public void teleopPeriodic() {
System.out.println("TeloP");
System.out.println(LeftEncoder.getRaw());
}

}

package TestRobot;
import edu.wpi.first.wpilibj.PIDOutput;

public class PIDEncoderClass implements PIDOutput{

public void pidWrite(double output) {

System.out.println("Output " + output);

RobotMain.VictorLeft.set(output);
RobotMain.VictorRight.set(output);
}

}