Position and velocity PIDControllers using same encoder

[GeeTwo]

Originally Posted by Oblarg

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

Again, it's a matter of weighing the ugly, but perhaps you could free the encoder you aren't using (if I understand correctly, setting the variable(s) referencing it to null and possibly running garbage collection will accomplish this), then initiate the new one.