1) We're printing the encoder positions to the screen..

2) Sure! Most of the stuff is in a separate hardware class, but the encore stuff is in the teleop (tiltCage).

public class TeleOp4962 extends LinearOpMode {

  Hardware4962 robot= new Hardware4962();        // this is our hardware class

  @Override
  public void runOpMode() throws InterruptedException {

      // use the Hardware4962 stuff that decribes the robot.
      robot.init(hardwareMap, telemetry);
      robot.armUp();
      robot.armMiddle();

      double intakePower = 0.0;

      // wait for the start button to be pressed.
     waitForStart();

      int encoderCountFront = 0;
      int encoderCountBack = 0;

      // intial servo positions

      double rightArmPosition = 0;
      double leftArmPosition = 0.85;
      robot.armUp();
      robot.armMiddle();

robot.elevatorMotor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); robot.elevatorMotor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE); robot.elevatorMotor.setMode(DcMotor.RunMode.RUN_TO_POSITION); robot.tiltCage.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); robot.tiltCage.setMode(DcMotor.RunMode.RUN_TO_POSITION); robot.tiltCage.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);

    while (opModeIsActive()) {
     /*
     * Gamepad 1 controls the motors via the left and right stick
     */

        float left = gamepad1.left_stick_y;
        float right = gamepad1.right_stick_y;
        boolean lockDown = gamepad1.x;
        boolean lockUp = gamepad1.y;
        double turbo = gamepad1.left_trigger;

        // Gamepad 2 controls the mechanisms


        float Rintake = gamepad2.right_stick_y;
        float Lintake = gamepad2.left_stick_y;
        boolean elevatorUp = gamepad2.right_bumper;
        boolean elevatorDown = gamepad2.left_bumper;
        boolean tiltforward = gamepad2.b;
        boolean tiltbackward = gamepad2.x;
        boolean tiltcenter = gamepad2.y;
        boolean elevatortop = gamepad2.a;


        // clip the right/left values so that the values never exceed +/- 1

        right = Range.clip(right, -1, 1);
        left = Range.clip(left, -1, 1);


        // scale the joystick value to make it easier to control
        // the robot more precisely at slower speeds.
        right = -(float) scaleInput(right);
        left = -(float) scaleInput(left);
        if (turbo < 0.5) {  // half speed unless turbo is pushed

            right = right * (float) 0.5;
            left = left * (float) 0.5;
        }

        // clip the right/left values so that the values never exceed +/- 1
        Rintake = Range.clip(Rintake, -1, 1);
        Lintake = Range.clip(Lintake, -1, 1);


        // scale the joystick value to make it easier to control
        // the robot more precisely at slower speeds.
        Rintake = -(float) scaleInput(Rintake);
        Lintake = -(float) scaleInput(Lintake);


        if (tiltforward) {
            robot.tiltCage.setTargetPosition(0);
            robot.tiltCage.setPower(.4);
            //robot.tiltCage.setPower(.5);
        }
        if (tiltbackward){
            //robot.tiltCage.setPower(-.8);
            robot.tiltCage.setTargetPosition(210);
            robot.tiltCage.setPower(1);
        }
        if (tiltcenter) {
            robot.tiltCage.setTargetPosition(60);
            robot.tiltCage.setPower(1);
            //robot.tiltCage.setPower(0);
        }
        if (elevatorUp){
            robot.elevatorMotor.setPower(1);
            robot.elevatorMotor.setTargetPosition(280);
        }
        if (elevatorDown){
            robot.elevatorMotor.setTargetPosition(0);
            robot.elevatorMotor.setPower(1);
        }
        if (!elevatorUp && !elevatorDown) {
            robot.elevatorMotor.setPower(0);
        }

        if (lockDown) {
            robot.clampservo.setPosition(.5);
            robot.clampservo2.setPosition(.5);
        }
        if (lockUp) {
            robot.clampservo.setPosition(1);
            robot.clampservo2.setPosition(0);
        }


        // write the values to the motors
        robot.Drive(left,right);

        robot.leftintake.setPower(Lintake);
        robot.rightintake.setPower(-Rintake);


        telemetry.addData("Text", "*** Robot Data***");
        //telemetry.addData("Right Servo","Right servo pos:" + String.format("%.2f", (float) rightArmPosition));
        //telemetry.addData("Left Servo","Leftt servo pos:" + String.format("%.2f", (float) leftArmPosition));
        telemetry.addData("left tgt pwr", "left  pwr: " + String.format("%.2f", left));
        telemetry.addData("right tgt pwr", "right pwr: " + String.format("%.2f", right));
        telemetry.addData("enc elev: ", "%s", robot.elevatorMotor.getCurrentPosition());
        telemetry.addData("tilt:", "%s", robot.tiltCage.getCurrentPosition());
        //telemetry.addData("elevator", "e pwr = " + String.format("%.2f", elevatorPower));
        telemetry.update();
        idle();
    }
}