diff --git a/wpilibc/simulation/src/Encoder.cpp b/wpilibc/simulation/src/Encoder.cpp
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+++ b/wpilibc/simulation/src/Encoder.cpp
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+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008. All Rights Reserved.							  */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
+/*----------------------------------------------------------------------------*/
+
+#include "Encoder.h"
+#include "Resource.h"
+#include "WPIErrors.h"
+#include "LiveWindow/LiveWindow.h"
+
+/**
+ * Common initialization code for Encoders.
+ * This code allocates resources for Encoders and is common to all constructors.
+ *
+ * The counter will start counting immediately.
+ *
+ * @param reverseDirection If true, counts down instead of up (this is all relative)
+ * @param encodingType either k1X, k2X, or k4X to indicate 1X, 2X or 4X decoding. If 4X is
+ * selected, then an encoder FPGA object is used and the returned counts will be 4x the encoder
+ * spec'd value since all rising and falling edges are counted. If 1X or 2X are selected then
+ * a counter object will be used and the returned value will either exactly match the spec'd count
+ * or be double (2x) the spec'd count.
+ */
+void Encoder::InitEncoder(int channelA, int channelB, bool reverseDirection, EncodingType encodingType)
+{
+	m_table = nullptr;
+	this->channelA = channelA;
+	this->channelB = channelB;
+	m_encodingType = encodingType;
+	m_encodingScale = encodingType == k4X ? 4
+		: encodingType == k2X ? 2
+		: 1;
+
+	int32_t index = 0;
+	m_distancePerPulse = 1.0;
+
+	LiveWindow::GetInstance()->AddSensor("Encoder", channelA, this);
+
+	if (channelB < channelA) { // Swap ports
+		int channel = channelB;
+		channelB = channelA;
+		channelA = channel;
+		m_reverseDirection = !reverseDirection;
+	} else {
+		m_reverseDirection = reverseDirection;
+	}
+	char buffer[50];
+	int n = sprintf(buffer, "dio/%d/%d", channelA, channelB);
+	impl = new SimEncoder(buffer);
+	impl->Start();
+}
+
+/**
+ * Encoder constructor.
+ * Construct a Encoder given a and b channels.
+ *
+ * The counter will start counting immediately.
+ *
+ * @param aChannel The a channel digital input channel.
+ * @param bChannel The b channel digital input channel.
+ * @param reverseDirection represents the orientation of the encoder and inverts the output values
+ * if necessary so forward represents positive values.
+ * @param encodingType either k1X, k2X, or k4X to indicate 1X, 2X or 4X decoding. If 4X is
+ * selected, then an encoder FPGA object is used and the returned counts will be 4x the encoder
+ * spec'd value since all rising and falling edges are counted. If 1X or 2X are selected then
+ * a counter object will be used and the returned value will either exactly match the spec'd count
+ * or be double (2x) the spec'd count.
+ */
+Encoder::Encoder(uint32_t aChannel, uint32_t bChannel, bool reverseDirection, EncodingType encodingType)
+{
+    InitEncoder(aChannel, bChannel, reverseDirection, encodingType);
+}
+
+/**
+ * Encoder constructor.
+ * Construct a Encoder given a and b channels as digital inputs. This is used in the case
+ * where the digital inputs are shared. The Encoder class will not allocate the digital inputs
+ * and assume that they already are counted.
+ *
+ * The counter will start counting immediately.
+ *
+ * @param aSource The source that should be used for the a channel.
+ * @param bSource the source that should be used for the b channel.
+ * @param reverseDirection represents the orientation of the encoder and inverts the output values
+ * if necessary so forward represents positive values.
+ * @param encodingType either k1X, k2X, or k4X to indicate 1X, 2X or 4X decoding. If 4X is
+ * selected, then an encoder FPGA object is used and the returned counts will be 4x the encoder
+ * spec'd value since all rising and falling edges are counted. If 1X or 2X are selected then
+ * a counter object will be used and the returned value will either exactly match the spec'd count
+ * or be double (2x) the spec'd count.
+ */
+/* TODO: [Not Supported] Encoder::Encoder(DigitalSource *aSource, DigitalSource *bSource, bool reverseDirection, EncodingType encodingType) :
+	m_encoder(nullptr),
+	m_counter(nullptr)
+{
+	m_aSource = aSource;
+	m_bSource = bSource;
+	m_allocatedASource = false;
+	m_allocatedBSource = false;
+	if (m_aSource == nullptr || m_bSource == nullptr)
+		wpi_setWPIError(NullParameter);
+	else
+		InitEncoder(reverseDirection, encodingType);
+        }*/
+
+/**
+ * Encoder constructor.
+ * Construct a Encoder given a and b channels as digital inputs. This is used in the case
+ * where the digital inputs are shared. The Encoder class will not allocate the digital inputs
+ * and assume that they already are counted.
+ *
+ * The counter will start counting immediately.
+ *
+ * @param aSource The source that should be used for the a channel.
+ * @param bSource the source that should be used for the b channel.
+ * @param reverseDirection represents the orientation of the encoder and inverts the output values
+ * if necessary so forward represents positive values.
+ * @param encodingType either k1X, k2X, or k4X to indicate 1X, 2X or 4X decoding. If 4X is
+ * selected, then an encoder FPGA object is used and the returned counts will be 4x the encoder
+ * spec'd value since all rising and falling edges are counted. If 1X or 2X are selected then
+ * a counter object will be used and the returned value will either exactly match the spec'd count
+ * or be double (2x) the spec'd count.
+ */
+/*// TODO: [Not Supported] Encoder::Encoder(DigitalSource &aSource, DigitalSource &bSource, bool reverseDirection, EncodingType encodingType) :
+	m_encoder(nullptr),
+	m_counter(nullptr)
+{
+	m_aSource = &aSource;
+	m_bSource = &bSource;
+	m_allocatedASource = false;
+	m_allocatedBSource = false;
+	InitEncoder(reverseDirection, encodingType);
+    }*/
+
+/**
+ * Reset the Encoder distance to zero.
+ * Resets the current count to zero on the encoder.
+ */
+void Encoder::Reset()
+{
+    impl->Reset();
+}
+
+/**
+ * Determine if the encoder is stopped.
+ * Using the MaxPeriod value, a boolean is returned that is true if the encoder is considered
+ * stopped and false if it is still moving. A stopped encoder is one where the most recent pulse
+ * width exceeds the MaxPeriod.
+ * @return True if the encoder is considered stopped.
+ */
+bool Encoder::GetStopped() const
+{
+    throw "Simulation doesn't currently support this method.";
+}
+
+/**
+ * The last direction the encoder value changed.
+ * @return The last direction the encoder value changed.
+ */
+bool Encoder::GetDirection() const
+{
+    throw "Simulation doesn't currently support this method.";
+}
+
+/**
+ * The scale needed to convert a raw counter value into a number of encoder pulses.
+ */
+double Encoder::DecodingScaleFactor() const
+{
+	switch (m_encodingType)
+	{
+	case k1X:
+		return 1.0;
+	case k2X:
+		return 0.5;
+	case k4X:
+		return 0.25;
+	default:
+		return 0.0;
+	}
+}
+
+/**
+ * The encoding scale factor 1x, 2x, or 4x, per the requested encodingType.
+ * Used to divide raw edge counts down to spec'd counts.
+ */
+int32_t Encoder::GetEncodingScale() const { return m_encodingScale; }
+
+/**
+ * Gets the raw value from the encoder.
+ * The raw value is the actual count unscaled by the 1x, 2x, or 4x scale
+ * factor.
+ * @return Current raw count from the encoder
+ */
+int32_t Encoder::GetRaw() const
+{
+	throw "Simulation doesn't currently support this method.";
+}
+
+/**
+ * Gets the current count.
+ * Returns the current count on the Encoder.
+ * This method compensates for the decoding type.
+ *
+ * @return Current count from the Encoder adjusted for the 1x, 2x, or 4x scale factor.
+ */
+int32_t Encoder::Get() const
+{
+	throw "Simulation doesn't currently support this method.";
+}
+
+/**
+ * Returns the period of the most recent pulse.
+ * Returns the period of the most recent Encoder pulse in seconds.
+ * This method compenstates for the decoding type.
+ *
+ * @deprecated Use GetRate() in favor of this method.  This returns unscaled periods and GetRate() scales using value from SetDistancePerPulse().
+ *
+ * @return Period in seconds of the most recent pulse.
+ */
+double Encoder::GetPeriod() const
+{
+	throw "Simulation doesn't currently support this method.";
+}
+
+/**
+ * Sets the maximum period for stopped detection.
+ * Sets the value that represents the maximum period of the Encoder before it will assume
+ * that the attached device is stopped. This timeout allows users to determine if the wheels or
+ * other shaft has stopped rotating.
+ * This method compensates for the decoding type.
+ *
+ * @deprecated Use SetMinRate() in favor of this method.  This takes unscaled periods and SetMinRate() scales using value from SetDistancePerPulse().
+ *
+ * @param maxPeriod The maximum time between rising and falling edges before the FPGA will
+ * report the device stopped. This is expressed in seconds.
+ */
+void Encoder::SetMaxPeriod(double maxPeriod)
+{
+	throw "Simulation doesn't currently support this method.";
+}
+
+/**
+ * Get the distance the robot has driven since the last reset.
+ *
+ * @return The distance driven since the last reset as scaled by the value from SetDistancePerPulse().
+ */
+double Encoder::GetDistance() const
+{
+    return m_distancePerPulse * impl->GetPosition();
+}
+
+/**
+ * Get the current rate of the encoder.
+ * Units are distance per second as scaled by the value from SetDistancePerPulse().
+ *
+ * @return The current rate of the encoder.
+ */
+double Encoder::GetRate() const
+{
+    return m_distancePerPulse * impl->GetVelocity();
+}
+
+/**
+ * Set the minimum rate of the device before the hardware reports it stopped.
+ *
+ * @param minRate The minimum rate.  The units are in distance per second as scaled by the value from SetDistancePerPulse().
+ */
+void Encoder::SetMinRate(double minRate)
+{
+    throw "Simulation doesn't currently support this method.";
+}
+
+/**
+ * Set the distance per pulse for this encoder.
+ * This sets the multiplier used to determine the distance driven based on the count value
+ * from the encoder.
+ * Do not include the decoding type in this scale.  The library already compensates for the decoding type.
+ * Set this value based on the encoder's rated Pulses per Revolution and
+ * factor in gearing reductions following the encoder shaft.
+ * This distance can be in any units you like, linear or angular.
+ *
+ * @param distancePerPulse The scale factor that will be used to convert pulses to useful units.
+ */
+void Encoder::SetDistancePerPulse(double distancePerPulse)
+{
+	if (m_reverseDirection) {
+		m_distancePerPulse = -distancePerPulse;
+	} else {
+		m_distancePerPulse = distancePerPulse;
+	}
+}
+
+/**
+ * Set the direction sensing for this encoder.
+ * This sets the direction sensing on the encoder so that it could count in the correct
+ * software direction regardless of the mounting.
+ * @param reverseDirection true if the encoder direction should be reversed
+ */
+void Encoder::SetReverseDirection(bool reverseDirection)
+{
+    throw "Simulation doesn't currently support this method.";
+}
+
+/**
+ * Set which parameter of the encoder you are using as a process control variable.
+ *
+ * @param pidSource An enum to select the parameter.
+ */
+void Encoder::SetPIDSourceType(PIDSourceType pidSource)
+{
+	m_pidSource = pidSource;
+}
+
+/**
+ * Implement the PIDSource interface.
+ *
+ * @return The current value of the selected source parameter.
+ */
+double Encoder::PIDGet()
+{
+	switch (m_pidSource)
+	{
+	case PIDSourceType::kDisplacement:
+		return GetDistance();
+	case PIDSourceType::kRate:
+		return GetRate();
+	default:
+		return 0.0;
+	}
+}
+
+void Encoder::UpdateTable() {
+	if (m_table != nullptr) {
+        m_table->PutNumber("Speed", GetRate());
+        m_table->PutNumber("Distance", GetDistance());
+        m_table->PutNumber("Distance per Tick", m_reverseDirection ? -m_distancePerPulse : m_distancePerPulse);
+	}
+}
+
+void Encoder::StartLiveWindowMode() {
+
+}
+
+void Encoder::StopLiveWindowMode() {
+
+}
+
+std::string Encoder::GetSmartDashboardType() const {
+	if (m_encodingType == k4X)
+		return "Quadrature Encoder";
+	else
+		return "Encoder";
+}
+
+void Encoder::InitTable(std::shared_ptr<ITable> subTable) {
+	m_table = subTable;
+	UpdateTable();
+}
+
+std::shared_ptr<ITable> Encoder::GetTable() const {
+	return m_table;
+}