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+package org.team2168.utils;%0A%0Aimport edu.wpi.first.wpilibj.Encoder;%0A%0A/**%0A* Allows for a encoder to be measured relative to a certain encoder point.%0A*%0A* Original source from 254's 2013 robot code:%0A*   https://github.com/Team254/FRC-2013/blob/master/src/com/team254/lib/util/RelativeEncoder.java%0A*%0A* @author tom@team254.com (Tom Bottiglieri)%0A*/%0Apublic class RelativeEncoder %7B%0A  private Encoder encoder;%0A  int val;%0A%0A  public RelativeEncoder(Encoder e) %7B%0A    this.encoder = e;%0A    val = 0;%0A  %7D%0A%0A  public void reset() %7B%0A    val = encoder.get();%0A  %7D%0A%0A  public void resetAbsolute() %7B%0A    encoder.reset();%0A    reset();%0A  %7D%0A%0A  public int get() %7B%0A    return encoder.get() - val;%0A  %7D%0A%0A  public void start() %7B%0A    encoder.start();%0A  %7D%0A%7D%0A

Create RelativeEncoder.java