Position and velocity PIDControllers using same encoder

[Oblarg]

Originally Posted by GeeTwo

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.

If I were never going to use them at the same time, this would probably work - but, as mentioned earlier in the thread, the notion is to run a cascading control loop on a turret where the position controller outputs to a velocity controller using the same encoder.