
package com.team254.frc2015;

import com.team254.lib.ChezyTalon;
import com.team254.lib.web.SimplestServer;

import edu.wpi.first.wpilibj.IterativeRobot;

/**
 * The VM is configured to automatically run this class, and to call the
 * functions corresponding to each mode, as described in the IterativeRobot
 * documentation. If you change the name of this class or the package after
 * creating this project, you must also update the manifest file in the resource
 * directory.
 */
public class Robot extends IterativeRobot {
    /**
     * This function is run when the robot is first started up and should be
     * used for any initialization code.
     */
    ChezyTalon testTalonB = new ChezyTalon(0, "Drive Left A");
    ChezyTalon testTalonA = new ChezyTalon(1, "Drive Left B");
    int i = 0;

    public void robotInit() {
      new Thread(new Runnable() {
        public void run() {
          try {
            System.out.println("Starting server");
            SimplestServer.startServer();
          } catch (Exception e) {
            e.printStackTrace();
          }
        }
      }).start();
    }

    /**
     * This function is called periodically during autonomous
     */
    public void autonomousPeriodic() {

    }

    /**
     * This function is called periodically during operator control
     */
    public void teleopPeriodic() {
        
    }
    
    /**
     * This function is called periodically during test mode
     */
    public void testPeriodic() {
    
    }
    
    public void disabledPeriodic() {
      i = i > 1000 ? -1000 : i + 1;
      testTalonA.set(i / 1000.0);
      testTalonB.set(-i / 1000.0);
    }

}

@@ -132,30 +132,104 @@
 wpilibj.
-IterativeRobot
+Encoder;%0Aimport edu.wpi.first.wpilibj.IterativeRobot;%0Aimport edu.wpi.first.wpilibj.Timer
 ;%0A%0A/**%0A 
@@ -851,24 +851,66 @@
 e Left B%22);%0A
+    Encoder encoder = new Encoder(0, 1);%0A%0A
     int i = 
@@ -1084,16 +1084,18 @@
         
+//
 Simplest
@@ -1668,35 +1668,10 @@
    i
- = i %3E 1000 ? -1000 : i + 1
+++
 ;%0A  
@@ -1689,27 +1689,33 @@
 onA.set(
-i / 100
+Math.sin(i/5
 0.0)
+)
 ;%0A      
@@ -1733,19 +1733,73 @@
 set(
--i / 1000.0
+Math.cos(i/50.0));%0A      System.out.println(%22e: %22 + encoder.get()
 );%0A 

Add test encoder