Java Encoder Limitation?

Technical Java
1

Is there a limitation to the number of encoders we can have? When trying to add more than 4 in Java, we get the following exception:

[cRIO] Uncaught exception in Thread.run():
[cRIO] on thread edu.wpi.first.wpilibj.defaultCode.DefaultRobot - main
[cRIO] edu.wpi.first.wpilibj.util.AllocationException: There are no encoders left to allocate
[cRIO] at edu.wpi.first.wpilibj.Encoder.initEncoder(Encoder.java:76)

2

the quadrature encoders seem to be throwing the exception (line 76 of the Encoder class).

it seems like you can allocate more encoders as long as they are 2x or 1x encoders.

3

use the constructor Encoder(int sourceA, int sourceB, boolean reversed, EncodingType type) and pass in EncodingType.k2X and you can make as many encoders as you want. :slight_smile:

4

Worked! Thanks!