@@ -0,0 +1,692 @@
+package org.usfirst.frc.team4761.robot;%0A%0Aimport edu.wpi.first.wpilibj.Encoder;%0Aimport edu.wpi.first.wpilibj.PIDSource;%0Aimport edu.wpi.first.wpilibj.PIDSourceType;%0A%0Apublic class EncoderPIDSource implements PIDSource %7B%0A%0A%09Encoder encoder;%0A%09double factor;%0A%09PIDSourceType sourceType;%0A%09%0A%09public EncoderPIDSource(Encoder jack, double factor, PIDSourceType type) %7B%0A%09%09encoder = jack;%0A%09%09this.factor = factor;%0A%09%09sourceType = type;%0A%09%7D%0A%09%0A%09@Override%0A%09public PIDSourceType getPIDSourceType() %7B%0A%09%09return sourceType;%0A%09%7D%0A%0A%09@Override%0A%09public double pidGet() %7B%0A%09%09return encoder.getDistance() * factor;%0A%09%7D%0A%0A%09@Override%0A%09public void setPIDSourceType(PIDSourceType pidSource) %7B%0A%09%09this.sourceType = pidSource;%0A%09%7D%0A%09%0A%7D%0A

Add EncoderPIDSource class