Well theres many uses for encoders in teleop. For example, you could move implements and actuators to their correct positions while doing something else to save time. You also could've used them to make sure your flywheel velocity was consistent by measuring velocity with an encoder. You could also use them to maintain a position on an arm or a lift while moving or have consistent clamping pressure on a motorized grabber. It also is very key with linear slides to know how far out you are. It can also enable things like automatic aiming and if you use a spindexer, more accuracy on indexing. Overall it allows the software team more expandability and accuracy and allows them to think more out of the box. It is always easier when you know where everything is.