Encoder help

[Mitchell C]

We are trying to do encoders for the first time as a team and are having a lot of trouble. We are using C++ and absolute encoders(http://www.andymark.com/product-p/am-2899.htm). We are not sure how do do the code for them and haven't been able to find anything useful anywhere we look. Any help would be apreciated

#include "WPILib.h"
#include "Joystick.h"
#include "Commands/Command.h"
#include "NetworkTables/NetworkTable.h"
#include <sstream>
#include <string>
//#include "MyRobot.h"
//#include "MA3Encoder.h"



class Robot: public IterativeRobot
{
public:
	Victor *V1, *V2, *V3, *V4, *V5, *V6, *V7, *V8;
	Joystick *leftJoy, *rightJoy, *controller;
	//SmartDashboard *dash;
	DoubleSolenoid *MPS1, *MPS2, *MPS3, *MPS4;
	Compressor *compressor;
	CANTalon *T1, *T2, *T3;
	Timer *timer;
	//AnalogInput *enc;
	Encoder *leftEncoder, *rightEncoder;


	//Encoder *encoder;
	//Encoder *sampleEncoder = new Encoder(0, 1, false, Encoder::EncodingType::k4X);
	const int E_L_ACHANNEL = 3;
	const int E_L_BCHANNEL = 4;
	const int E_L_DISTPERPULSE = 1;
	const double E_L_MAXPERIOD = 1.0;
	const bool E_L_REVERSE = false;

	//right encoder

	const int E_R_ACHANNEL = 1;
	const int E_R_BCHANNEL = 2;
	const int E_R_DISTPERPULSE = 1;
	const double E_R_MAXPERIOD = 1.0;
	const bool E_R_REVERSE = true;
	Robot()
	{
		//drive train motors
		//left back wheel
		V1 = new Victor(0);				//red
		V2 = new Victor(1);			//green

		//left front wheel
		V3 = new Victor(2);		//blue
		V4 = new Victor(3);				//yellow

		//right rear wheel
		V5 = new Victor(4);				//black
		V6 = new Victor(5);		//white

		//right front wheel
		V7 = new Victor(6);		//blue-red
		V8 = new Victor(7);				//black-red

		//driver and operator controls
		leftJoy = new Joystick(2);
		rightJoy = new Joystick(1);
		controller = new Joystick(0);

		//Talons
		T1 = new CANTalon(0);
		T2 = new CANTalon(1);
		T3 = new CANTalon(2);

		//compressor
		compressor = new Compressor(0);

		//pneumatics
		MPS1 = new DoubleSolenoid(0, 1);
		MPS2 = new DoubleSolenoid(2, 3);
		MPS3 = new DoubleSolenoid(4, 5);
		MPS4 = new DoubleSolenoid(6, 7);

		//network tables
		//table = NetworkTable::GetTable("SmartDashboard");
		//dash = new SmartDashboard();

		//timers
		timer = new Timer();
		rightEncoder = new Encoder(8,1,false, Encoder::EncodingType::k4X);
		//enc = new AnalogInput(0);
		//SmartDashboard.PutNumber("Encoder",  E_L_ACHANNEL);
		leftEncoder = new Encoder(E_L_ACHANNEL, E_L_BCHANNEL, E_L_REVERSE);
		leftEncoder->SetDistancePerPulse(E_L_DISTPERPULSE);
		leftEncoder->SetMaxPeriod(E_L_MAXPERIOD);
		//rightEncoder = new Encoder(E_R_ACHANNEL, E_R_BCHANNEL, E_R_REVERSE);
		//rightEncoder->SetDistancePerPulse(E_R_DISTPERPULSE);
		//rightEncoder->SetMaxPeriod(E_R_MAXPERIOD);

	}

	void RobotInit() override
	{
		CameraServer::GetInstance()->SetQuality(50);
		//the camera name (ex "cam0") can be found through the roborio web interface
		CameraServer::GetInstance()->StartAutomaticCapture("cam0");
	//	SmartDashboard::init();
		compressor->SetClosedLoopControl(true);

	}
	void OperatorControl()
		{
			while (IsOperatorControl() && IsEnabled())
			{
				/** robot code here! **/
				Wait(0.005);				// wait for a motor update time
			}
		}

	void AutonomousInit()
	{
		T1->Set(-1);
		T2->Set(-1);
		Wait(3);
		T1->Set(0);
		T2->Set(0);
		V1->Set(1);
		V2->Set(1);
		V3->Set(1);
		Wait(4);
		V1->Set(0);
		V2->Set(0);
		V3->Set(0);
		/*
		MPS1->Set(DoubleSolenoid::kForward);
		MPS2->Set(DoubleSolenoid::kForward);
		MPS3->Set(DoubleSolenoid::kForward);
		MPS4->Set(DoubleSolenoid::kForward);
		Wait(3);
		MPS1->Set(DoubleSolenoid::kReverse);
		MPS2->Set(DoubleSolenoid::kReverse);
		MPS3->Set(DoubleSolenoid::kOff);
		MPS4->Set(DoubleSolenoid::kOff);
		*/

	}

	void TeleopInit() {leftEncoder->Reset(); //rightEncoder->Reset();
	}

	void TeleopPeriodic()
	{
		//DRIVER CONTROLS
		if (leftJoy->GetRawButton(5) || rightJoy->GetRawButton(10)) //Buttons 6 and 11 on joysticks
		{
			TankDrive(-leftJoy->GetRawAxis(1) * 0.5, -rightJoy->GetRawAxis(1) * 0.5);
		}
		TankDrive(-leftJoy->GetRawAxis(1), -rightJoy->GetRawAxis(1));



		if (controller->GetRawAxis(1) > 0.25) //Left Thumbstick on controller
		{
			MPS4->Set(DoubleSolenoid::kForward);
		}
		else if (controller->GetRawAxis(1) < -0.25)
		{
			MPS4->Set(DoubleSolenoid::kReverse);
		}
		else
		{
			MPS4->Set(DoubleSolenoid::kOff);
		}

		if (controller->GetRawAxis(5) > 0.25)
		{
			MPS3->Set(DoubleSolenoid::kForward);
		}
		else if(controller->GetRawAxis(5) < -0.25)
		{
			MPS3->Set(DoubleSolenoid::kReverse);
		}
		else
		{
		 MPS3->Set(DoubleSolenoid::kOff);
		}

		while(controller->GetRawButton(3))
		{

			if (controller->GetRawButton(1)) //A Button on controller
				MPS2->Set(DoubleSolenoid::kForward);
			else
				MPS2->Set(DoubleSolenoid::kReverse);


			if(controller->GetRawButton(4))
				MPS1->Set(DoubleSolenoid::kForward);
			else
				MPS1->Set(DoubleSolenoid::kReverse);

		}


		if(controller->GetRawButton(5))
		{
			V1->Set(1);
			V2->Set(1);
			V3->Set(1);
			Wait(2);
			T1->Set(1);
			T2->Set(1);
			V4->Set(1);
			V5->Set(1);
			Wait(.5);
			V1->Set(0);
			V2->Set(0);
			V3->Set(0);
			Wait(2.5);
			T1->Set(0);
			T2->Set(0);
			V4->Set(-1);
			V5->Set(-1);
			Wait(2);
			V4->Set(0);
			V5->Set(0);
		}
		//TEST STUFF

		auto str = std::to_string(rightEncoder->Get());

		SmartDashboard::PutString("DB/String 0","my 21 char  it's a bhatt");
		SmartDashboard::PutString("DB/String 1",str);
		//SmartDashboard::PutNumber("DB/String 2",2.1);

		//SmartDashboard::PutNumber("DB/String 5", 1.2);


			if(leftEncoder->GetRaw() > 1)
			{
				MPS1->Set(DoubleSolenoid::kForward);
			}
			else if(leftEncoder->GetRaw() < 1 && leftEncoder->GetRaw() > .000001)
			{
				MPS2->Set(DoubleSolenoid::kForward);
			}
			else if(leftEncoder->GetRaw() == 1)
			{
				V1->Set(1);
				Wait(3);
				V1->Set(0);
			}
			else if(leftEncoder->GetRaw() == 0)
			{
				V1->Set(1);
			}


	}

	void DisabledPeriodic()
	{
	}

	void TestInit()
	{
		V1->Set(1);
		Wait(3.0);
		V1->Set(0);
		V2->Set(1);
		Wait(3.0);
		V2->Set(0);
		V3->Set(1);
		Wait(3);
		V3->Set(0);
		V4->Set(1);
		Wait(3);
		V4->Set(0);
		V5->Set(1);
		Wait(3);
		V5->Set(0);
		V6->Set(1);
		Wait(3);
		V6->Set(0);
		V7->Set(1);
		Wait(3);
		V7->Set(0);
		V8->Set(1);
		Wait(3);
		V8->Set(0);
		T1->Set(1);
		Wait(3);
		T1->Set(0);
		T2->Set(1);
		Wait(3);
		T2->Set(0);
	}

	void TankDrive(double left, double right)
	{
		V4->Set(left);
		V3->Set(left);

		V1->Set(left);
		V2->Set(left);

		V7->Set(-right);
		V8->Set(-right);

		V5->Set(-right);
		V6->Set(-right);

		T1->Set(left);
		T2->Set(-right);

		T3->Set(left);

		//SmartDashboard::PutNumber("Left Drivetrain", left);
		//SmartDashboard::PutNumber("Right Drivetrain", -right);
	}
};

START_ROBOT_CLASS(Robot);