Relative Encoders with PathWeaver

We’ve been working on a PathWeaver implementation for our robot by adding methods to our drivetrain, but we noticed that the WPILib docs use the Encoder class from WPILib. Our drivetrain uses the RelativeEncoder class from REVLib. Because of this, we can’t call any of the methods like getDistance(), getDistancePerPulse(), or getRate() since these only work with the Encoder class. Is there any way to use relative encoders with PathWeaver?

(link to docs we were consulting for this: Step 3: Creating a Drive Subsystem — FIRST Robotics Competition documentation (

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I’m having the same issue attempting to follow this WPILib tutorial: Step 4: Updating Odometry and Visualizing Robot Position — FIRST Robotics Competition documentation