Position and velocity PIDControllers using same encoder

[Oblarg]

Originally Posted by nickbrickmaster

I haven't tested this, and haven't read the implementation, but you may also be able to create two encoder objects, one for position and one for rate.

Clarify: with the same port numbers.

Second edit: out of curiosity, what's your use case for this?

I considered constructing two encoders on the same pins, but I strongly suspect this will throw an error. Will have to check.

The use case is controlling a turret - we're wondering if it's possible to do a cascading loop using the same encoder for both the external (position) loop and the internal (velocity) loop. It's probably totally unnecessary to do this (simple fixes for dealing with friction and whatnot work fine), but it's an interesting thought.