diff --git a/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.h b/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.h
index bf2ad98def..748558478e 100644
--- a/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.h
+++ b/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.h
@@ -67,7 +67,7 @@ class Drivetrain {
   frc::SpeedControllerGroup m_rightGroup{m_rightMaster, m_rightFollower};
 
   frc::Encoder m_leftEncoder{0, 1};
-  frc::Encoder m_rightEncoder{0, 1};
+  frc::Encoder m_rightEncoder{2, 3};
 
   frc2::PIDController m_leftPIDController{1.0, 0.0, 0.0};
   frc2::PIDController m_rightPIDController{1.0, 0.0, 0.0};
diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumBot/include/Drivetrain.h b/wpilibcExamples/src/main/cpp/examples/MecanumBot/include/Drivetrain.h
index 3d44730f17..e9f5714216 100644
--- a/wpilibcExamples/src/main/cpp/examples/MecanumBot/include/Drivetrain.h
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumBot/include/Drivetrain.h
@@ -51,9 +51,9 @@ class Drivetrain {
   frc::Spark m_backRightMotor{4};
 
   frc::Encoder m_frontLeftEncoder{0, 1};
-  frc::Encoder m_frontRightEncoder{0, 1};
-  frc::Encoder m_backLeftEncoder{0, 1};
-  frc::Encoder m_backRightEncoder{0, 1};
+  frc::Encoder m_frontRightEncoder{2, 3};
+  frc::Encoder m_backLeftEncoder{4, 5};
+  frc::Encoder m_backRightEncoder{6, 7};
 
   frc::Translation2d m_frontLeftLocation{0.381_m, 0.381_m};
   frc::Translation2d m_frontRightLocation{0.381_m, -0.381_m};
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/SwerveModule.h b/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/SwerveModule.h
index 0eaa69ee92..65324c5e79 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/SwerveModule.h
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/SwerveModule.h
@@ -38,7 +38,7 @@ class SwerveModule {
   frc::Spark m_turningMotor;
 
   frc::Encoder m_driveEncoder{0, 1};
-  frc::Encoder m_turningEncoder{0, 1};
+  frc::Encoder m_turningEncoder{2, 3};
 
   frc2::PIDController m_drivePIDController{1.0, 0, 0};
   frc::ProfiledPIDController m_turningPIDController{
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot/Drivetrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot/Drivetrain.java
index 9f33156682..dd5b14cae4 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot/Drivetrain.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot/Drivetrain.java
@@ -35,7 +35,7 @@ public class Drivetrain {
   private final Spark m_rightFollower = new Spark(4);
 
   private final Encoder m_leftEncoder = new Encoder(0, 1);
-  private final Encoder m_rightEncoder = new Encoder(0, 1);
+  private final Encoder m_rightEncoder = new Encoder(2, 3);
 
   private final SpeedControllerGroup m_leftGroup
       = new SpeedControllerGroup(m_leftMaster, m_leftFollower);
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Drivetrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Drivetrain.java
index 29a6f49eb0..2d636aa819 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Drivetrain.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Drivetrain.java
@@ -32,9 +32,9 @@ public class Drivetrain {
   private final Spark m_backRightMotor = new Spark(4);
 
   private final Encoder m_frontLeftEncoder = new Encoder(0, 1);
-  private final Encoder m_frontRightEncoder = new Encoder(0, 1);
-  private final Encoder m_backLeftEncoder = new Encoder(0, 1);
-  private final Encoder m_backRightEncoder = new Encoder(0, 1);
+  private final Encoder m_frontRightEncoder = new Encoder(2, 3);
+  private final Encoder m_backLeftEncoder = new Encoder(4, 5);
+  private final Encoder m_backRightEncoder = new Encoder(6, 7);
 
   private final Translation2d m_frontLeftLocation = new Translation2d(0.381, 0.381);
   private final Translation2d m_frontRightLocation = new Translation2d(0.381, -0.381);
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/SwerveModule.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/SwerveModule.java
index 58a0c8d722..5e014491ad 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/SwerveModule.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/SwerveModule.java
@@ -27,7 +27,7 @@ public class SwerveModule {
   private final Spark m_turningMotor;
 
   private final Encoder m_driveEncoder = new Encoder(0, 1);
-  private final Encoder m_turningEncoder = new Encoder(0, 1);
+  private final Encoder m_turningEncoder = new Encoder(2, 3);
 
   private final PIDController m_drivePIDController = new PIDController(1, 0, 0);