diff --git a/hal/include/HAL/Counter.h b/hal/include/HAL/Counter.h
index 8b84ae8d50..0bea12465f 100644
--- a/hal/include/HAL/Counter.h
+++ b/hal/include/HAL/Counter.h
@@ -9,6 +9,7 @@
 
 #include <stdint.h>
 
+#include "HAL/AnalogTrigger.h"
 #include "HAL/Handles.h"
 
 enum Mode {
@@ -23,13 +24,15 @@ HalCounterHandle initializeCounter(Mode mode, int32_t* index, int32_t* status);
 void freeCounter(HalCounterHandle counter_handle, int32_t* status);
 void setCounterAverageSize(HalCounterHandle counter_handle, int32_t size,
                            int32_t* status);
-void setCounterUpSource(HalCounterHandle counter_handle, uint32_t pin,
-                        bool analogTrigger, int32_t* status);
+void setCounterUpSource(HalCounterHandle counter_handle,
+                        HalHandle digitalSourceHandle,
+                        AnalogTriggerType analogTriggerType, int32_t* status);
 void setCounterUpSourceEdge(HalCounterHandle counter_handle, bool risingEdge,
                             bool fallingEdge, int32_t* status);
 void clearCounterUpSource(HalCounterHandle counter_handle, int32_t* status);
-void setCounterDownSource(HalCounterHandle counter_handle, uint32_t pin,
-                          bool analogTrigger, int32_t* status);
+void setCounterDownSource(HalCounterHandle counter_handle,
+                          HalHandle digitalSourceHandle,
+                          AnalogTriggerType analogTriggerType, int32_t* status);
 void setCounterDownSourceEdge(HalCounterHandle counter_handle, bool risingEdge,
                               bool fallingEdge, int32_t* status);
 void clearCounterDownSource(HalCounterHandle counter_handle, int32_t* status);
diff --git a/hal/include/HAL/Encoder.h b/hal/include/HAL/Encoder.h
index f1d9d78026..cef9db3e34 100644
--- a/hal/include/HAL/Encoder.h
+++ b/hal/include/HAL/Encoder.h
@@ -9,6 +9,7 @@
 
 #include <stdint.h>
 
+#include "HAL/AnalogTrigger.h"
 #include "HAL/Handles.h"
 
 extern "C" {
@@ -21,8 +22,8 @@ enum EncoderIndexingType {
 enum EncoderEncodingType { HAL_Encoder_k1X, HAL_Encoder_k2X, HAL_Encoder_k4X };
 
 HalEncoderHandle initializeEncoder(
-    uint8_t port_a_module, uint32_t port_a_pin, bool port_a_analog_trigger,
-    uint8_t port_b_module, uint32_t port_b_pin, bool port_b_analog_trigger,
+    HalHandle digitalSourceHandleA, AnalogTriggerType analogTriggerTypeA,
+    HalHandle digitalSourceHandleB, AnalogTriggerType analogTriggerTypeB,
     bool reverseDirection, EncoderEncodingType encodingType, int32_t* status);
 void freeEncoder(HalEncoderHandle encoder_handle, int32_t* status);
 int32_t getEncoder(HalEncoderHandle encoder_handle, int32_t* status);
@@ -48,9 +49,10 @@ void setEncoderSamplesToAverage(HalEncoderHandle encoder_handle,
 int32_t getEncoderSamplesToAverage(HalEncoderHandle encoder_handle,
                                    int32_t* status);
 
-void setEncoderIndexSource(HalEncoderHandle encoder_handle, uint32_t pin,
-                           uint8_t analogTrigger, EncoderIndexingType type,
-                           int32_t* status);
+void setEncoderIndexSource(HalEncoderHandle encoder_handle,
+                           HalHandle digitalSourceHandle,
+                           AnalogTriggerType analogTriggerType,
+                           EncoderIndexingType type, int32_t* status);
 
 int32_t getEncoderFPGAIndex(HalEncoderHandle encoder_handle, int32_t* status);
 
diff --git a/hal/include/HAL/Interrupts.h b/hal/include/HAL/Interrupts.h
index abd54f3485..6af9f9bdc7 100644
--- a/hal/include/HAL/Interrupts.h
+++ b/hal/include/HAL/Interrupts.h
@@ -9,7 +9,8 @@
 
 #include <stdint.h>
 
-#include "Handles.h"
+#include "HAL/AnalogTrigger.h"
+#include "HAL/Handles.h"
 
 extern "C" {
 typedef void (*InterruptHandlerFunction)(uint32_t interruptAssertedMask,
@@ -27,8 +28,8 @@ double readRisingTimestamp(HalInterruptHandle interrupt_handle,
 double readFallingTimestamp(HalInterruptHandle interrupt_handle,
                             int32_t* status);
 void requestInterrupts(HalInterruptHandle interrupt_handle,
-                       uint8_t routing_module, uint32_t routing_pin,
-                       bool routing_analog_trigger, int32_t* status);
+                       HalHandle digitalSourceHandle,
+                       AnalogTriggerType analogTriggerType, int32_t* status);
 void attachInterruptHandler(HalInterruptHandle interrupt_handle,
                             InterruptHandlerFunction handler, void* param,
                             int32_t* status);
diff --git a/hal/lib/athena/Counter.cpp b/hal/lib/athena/Counter.cpp
index 6b337a199f..dccc7f60d8 100644
--- a/hal/lib/athena/Counter.cpp
+++ b/hal/lib/athena/Counter.cpp
@@ -69,21 +69,30 @@ void setCounterAverageSize(HalCounterHandle counter_handle, int32_t size,
  * Set the source object that causes the counter to count up.
  * Set the up counting DigitalSource.
  */
-void setCounterUpSource(HalCounterHandle counter_handle, uint32_t pin,
-                        bool analogTrigger, int32_t* status) {
+void setCounterUpSource(HalCounterHandle counter_handle,
+                        HalHandle digitalSourceHandle,
+                        AnalogTriggerType analogTriggerType, int32_t* status) {
   auto counter = counterHandles.Get(counter_handle);
   if (counter == nullptr) {
     *status = HAL_HANDLE_ERROR;
     return;
   }
 
-  uint8_t module;
+  bool routingAnalogTrigger = false;
+  uint32_t routingPin = 0;
+  uint8_t routingModule = 0;
+  bool success =
+      remapDigitalSource(digitalSourceHandle, analogTriggerType, routingPin,
+                         routingModule, routingAnalogTrigger);
+  if (!success) {
+    *status = HAL_HANDLE_ERROR;
+    return;
+  }
 
-  remapDigitalSource(analogTrigger, pin, module);
-
-  counter->counter->writeConfig_UpSource_Module(module, status);
-  counter->counter->writeConfig_UpSource_Channel(pin, status);
-  counter->counter->writeConfig_UpSource_AnalogTrigger(analogTrigger, status);
+  counter->counter->writeConfig_UpSource_Module(routingModule, status);
+  counter->counter->writeConfig_UpSource_Channel(routingPin, status);
+  counter->counter->writeConfig_UpSource_AnalogTrigger(routingAnalogTrigger,
+                                                       status);
 
   if (counter->counter->readConfig_Mode(status) == kTwoPulse ||
       counter->counter->readConfig_Mode(status) == kExternalDirection) {
@@ -127,8 +136,10 @@ void clearCounterUpSource(HalCounterHandle counter_handle, int32_t* status) {
  * Set the source object that causes the counter to count down.
  * Set the down counting DigitalSource.
  */
-void setCounterDownSource(HalCounterHandle counter_handle, uint32_t pin,
-                          bool analogTrigger, int32_t* status) {
+void setCounterDownSource(HalCounterHandle counter_handle,
+                          HalHandle digitalSourceHandle,
+                          AnalogTriggerType analogTriggerType,
+                          int32_t* status) {
   auto counter = counterHandles.Get(counter_handle);
   if (counter == nullptr) {
     *status = HAL_HANDLE_ERROR;
@@ -142,13 +153,21 @@ void setCounterDownSource(HalCounterHandle counter_handle, uint32_t pin,
     return;
   }
 
-  uint8_t module;
+  bool routingAnalogTrigger = false;
+  uint32_t routingPin = 0;
+  uint8_t routingModule = 0;
+  bool success =
+      remapDigitalSource(digitalSourceHandle, analogTriggerType, routingPin,
+                         routingModule, routingAnalogTrigger);
+  if (!success) {
+    *status = HAL_HANDLE_ERROR;
+    return;
+  }
 
-  remapDigitalSource(analogTrigger, pin, module);
-
-  counter->counter->writeConfig_DownSource_Module(module, status);
-  counter->counter->writeConfig_DownSource_Channel(pin, status);
-  counter->counter->writeConfig_DownSource_AnalogTrigger(analogTrigger, status);
+  counter->counter->writeConfig_DownSource_Module(routingModule, status);
+  counter->counter->writeConfig_DownSource_Channel(routingPin, status);
+  counter->counter->writeConfig_DownSource_AnalogTrigger(routingAnalogTrigger,
+                                                         status);
 
   setCounterDownSourceEdge(counter_handle, true, false, status);
   counter->counter->strobeReset(status);
diff --git a/hal/lib/athena/DigitalInternal.cpp b/hal/lib/athena/DigitalInternal.cpp
index b9880a3665..3f4888f529 100644
--- a/hal/lib/athena/DigitalInternal.cpp
+++ b/hal/lib/athena/DigitalInternal.cpp
@@ -12,6 +12,7 @@
 
 #include "ChipObject.h"
 #include "FRC_NetworkCommunication/LoadOut.h"
+#include "HAL/AnalogTrigger.h"
 #include "HAL/HAL.h"
 #include "HAL/Ports.h"
 #include "HAL/cpp/priority_mutex.h"
@@ -107,17 +108,30 @@ uint32_t remapMXPPWMChannel(uint32_t pin) {
  * If it's an analog trigger, determine the module from the high order routing
  * channel else do normal digital input remapping based on pin number (MXP)
  */
-extern "C++" void remapDigitalSource(bool analogTrigger, uint32_t& pin,
-                                     uint8_t& module) {
-  if (analogTrigger) {
+extern "C++" bool remapDigitalSource(HalHandle digitalSourceHandle,
+                                     AnalogTriggerType analogTriggerType,
+                                     uint32_t& pin, uint8_t& module,
+                                     bool& analogTrigger) {
+  if (isHandleType(digitalSourceHandle, HalHandleEnum::AnalogTrigger)) {
+    // If handle passed, index is not negative
+    uint32_t index = getHandleIndex(digitalSourceHandle);
+    pin = (index << 2) + analogTriggerType;
     module = pin >> 4;
-  } else {
-    if (pin >= kNumDigitalHeaders) {
-      pin = remapMXPChannel(pin);
+    analogTrigger = true;
+    return true;
+  } else if (isHandleType(digitalSourceHandle, HalHandleEnum::DIO)) {
+    uint32_t index = getHandleIndex(digitalSourceHandle);
+    if (index >= kNumDigitalHeaders) {
+      pin = remapMXPChannel(index);
       module = 1;
     } else {
+      pin = index;
       module = 0;
     }
+    analogTrigger = false;
+    return true;
+  } else {
+    return false;
   }
 }
 }
diff --git a/hal/lib/athena/DigitalInternal.h b/hal/lib/athena/DigitalInternal.h
index 856792b808..cc7e2d29ae 100644
--- a/hal/lib/athena/DigitalInternal.h
+++ b/hal/lib/athena/DigitalInternal.h
@@ -10,6 +10,7 @@
 #include <stdint.h>
 
 #include "ChipObject.h"
+#include "HAL/AnalogTrigger.h"
 #include "HAL/Handles.h"
 #include "HAL/Ports.h"
 #include "PortsInternal.h"
@@ -69,7 +70,9 @@ extern DigitalHandleResource<HalDigitalHandle, DigitalPort,
     digitalPinHandles;
 
 void initializeDigital(int32_t* status);
-void remapDigitalSource(bool analogTrigger, uint32_t& pin, uint8_t& module);
+bool remapDigitalSource(HalHandle digitalSourceHandle,
+                        AnalogTriggerType analogTriggerType, uint32_t& pin,
+                        uint8_t& module, bool& analogTrigger);
 uint32_t remapMXPPWMChannel(uint32_t pin);
 uint32_t remapMXPChannel(uint32_t pin);
 }
diff --git a/hal/lib/athena/Encoder.cpp b/hal/lib/athena/Encoder.cpp
index f5ee63a7cb..950c12cac2 100644
--- a/hal/lib/athena/Encoder.cpp
+++ b/hal/lib/athena/Encoder.cpp
@@ -17,19 +17,18 @@
 
 using namespace hal;
 
-Encoder::Encoder(uint8_t port_a_module, uint32_t port_a_pin,
-                 bool port_a_analog_trigger, uint8_t port_b_module,
-                 uint32_t port_b_pin, bool port_b_analog_trigger,
-                 bool reverseDirection, EncoderEncodingType encodingType,
-                 int32_t* status) {
+Encoder::Encoder(HalHandle digitalSourceHandleA,
+                 AnalogTriggerType analogTriggerTypeA,
+                 HalHandle digitalSourceHandleB,
+                 AnalogTriggerType analogTriggerTypeB, bool reverseDirection,
+                 EncoderEncodingType encodingType, int32_t* status) {
   m_encodingType = encodingType;
   switch (encodingType) {
     case HAL_Encoder_k4X: {
       m_encodingScale = 4;
-      m_encoder = initializeFPGAEncoder(port_a_module, port_a_pin,
-                                        port_a_analog_trigger, port_b_module,
-                                        port_b_pin, port_b_analog_trigger,
-                                        reverseDirection, &m_index, status);
+      m_encoder = initializeFPGAEncoder(
+          digitalSourceHandleA, analogTriggerTypeA, digitalSourceHandleB,
+          analogTriggerTypeB, reverseDirection, &m_index, status);
       if (*status != 0) {
         return;
       }
@@ -39,9 +38,9 @@ Encoder::Encoder(uint8_t port_a_module, uint32_t port_a_pin,
     }
     case HAL_Encoder_k1X:
     case HAL_Encoder_k2X: {
-      SetupCounter(port_a_module, port_a_pin, port_a_analog_trigger,
-                   port_b_module, port_b_pin, port_b_analog_trigger,
-                   reverseDirection, encodingType, status);
+      SetupCounter(digitalSourceHandleA, analogTriggerTypeA,
+                   digitalSourceHandleB, analogTriggerTypeB, reverseDirection,
+                   encodingType, status);
 
       m_encodingScale = encodingType == HAL_Encoder_k1X ? 1 : 2;
       break;
@@ -52,9 +51,10 @@ Encoder::Encoder(uint8_t port_a_module, uint32_t port_a_pin,
   }
 }
 
-void Encoder::SetupCounter(uint8_t port_a_module, uint32_t port_a_pin,
-                           bool port_a_analog_trigger, uint8_t port_b_module,
-                           uint32_t port_b_pin, bool port_b_analog_trigger,
+void Encoder::SetupCounter(HalHandle digitalSourceHandleA,
+                           AnalogTriggerType analogTriggerTypeA,
+                           HalHandle digitalSourceHandleB,
+                           AnalogTriggerType analogTriggerTypeB,
                            bool reverseDirection,
                            EncoderEncodingType encodingType, int32_t* status) {
   m_encodingScale = encodingType == HAL_Encoder_k1X ? 1 : 2;
@@ -62,9 +62,11 @@ void Encoder::SetupCounter(uint8_t port_a_module, uint32_t port_a_pin,
   if (*status != 0) return;
   setCounterMaxPeriod(m_counter, 0.5, status);
   if (*status != 0) return;
-  setCounterUpSource(m_counter, port_a_pin, port_a_analog_trigger, status);
+  setCounterUpSource(m_counter, digitalSourceHandleA, analogTriggerTypeA,
+                     status);
   if (*status != 0) return;
-  setCounterDownSource(m_counter, port_b_pin, port_b_analog_trigger, status);
+  setCounterDownSource(m_counter, digitalSourceHandleB, analogTriggerTypeB,
+                       status);
   if (*status != 0) return;
   if (encodingType == HAL_Encoder_k1X) {
     setCounterUpSourceEdge(m_counter, true, false, status);
@@ -187,7 +189,8 @@ int32_t Encoder::GetSamplesToAverage(int32_t* status) const {
   }
 }
 
-void Encoder::SetIndexSource(uint32_t pin, bool analogTrigger,
+void Encoder::SetIndexSource(HalHandle digitalSourceHandle,
+                             AnalogTriggerType analogTriggerType,
                              EncoderIndexingType type, int32_t* status) {
   if (m_counter) {
     *status = HAL_COUNTER_NOT_SUPPORTED;
@@ -197,8 +200,8 @@ void Encoder::SetIndexSource(uint32_t pin, bool analogTrigger,
       (type == HAL_kResetWhileHigh) || (type == HAL_kResetOnRisingEdge);
   bool edgeSensitive =
       (type == HAL_kResetOnFallingEdge) || (type == HAL_kResetOnRisingEdge);
-  setFPGAEncoderIndexSource(m_encoder, pin, analogTrigger, activeHigh,
-                            edgeSensitive, status);
+  setFPGAEncoderIndexSource(m_encoder, digitalSourceHandle, analogTriggerType,
+                            activeHigh, edgeSensitive, status);
 }
 
 double Encoder::DecodingScaleFactor() const {
@@ -221,13 +224,12 @@ static LimitedClassedHandleResource<HalEncoderHandle, Encoder,
 
 extern "C" {
 HalEncoderHandle initializeEncoder(
-    uint8_t port_a_module, uint32_t port_a_pin, bool port_a_analog_trigger,
-    uint8_t port_b_module, uint32_t port_b_pin, bool port_b_analog_trigger,
+    HalHandle digitalSourceHandleA, AnalogTriggerType analogTriggerTypeA,
+    HalHandle digitalSourceHandleB, AnalogTriggerType analogTriggerTypeB,
     bool reverseDirection, EncoderEncodingType encodingType, int32_t* status) {
   auto encoder = std::make_shared<Encoder>(
-      port_a_module, port_a_pin, port_a_analog_trigger, port_b_module,
-      port_b_pin, port_b_analog_trigger, reverseDirection, encodingType,
-      status);
+      digitalSourceHandleA, analogTriggerTypeA, digitalSourceHandleB,
+      analogTriggerTypeB, reverseDirection, encodingType, status);
   if (*status != 0) return HAL_INVALID_HANDLE;  // return in creation error
   auto handle = encoderHandles.Allocate(encoder);
   if (handle == HAL_INVALID_HANDLE) {
@@ -413,15 +415,16 @@ EncoderEncodingType getEncoderEncodingType(HalEncoderHandle encoder_handle,
   return encoder->GetEncodingType();
 }
 
-void setEncoderIndexSource(HalEncoderHandle encoder_handle, uint32_t pin,
-                           uint8_t analogTrigger, EncoderIndexingType type,
-                           int32_t* status) {
+void setEncoderIndexSource(HalEncoderHandle encoder_handle,
+                           HalHandle digitalSourceHandle,
+                           AnalogTriggerType analogTriggerType,
+                           EncoderIndexingType type, int32_t* status) {
   auto encoder = encoderHandles.Get(encoder_handle);
   if (encoder == nullptr) {
     *status = HAL_HANDLE_ERROR;
     return;
   }
-  encoder->SetIndexSource(pin, analogTrigger, type, status);
+  encoder->SetIndexSource(digitalSourceHandle, analogTriggerType, type, status);
 }
 
 int32_t getEncoderFPGAIndex(HalEncoderHandle encoder_handle, int32_t* status) {
diff --git a/hal/lib/athena/EncoderInternal.h b/hal/lib/athena/EncoderInternal.h
index 8e6e82efe3..2ce3a05dfe 100644
--- a/hal/lib/athena/EncoderInternal.h
+++ b/hal/lib/athena/EncoderInternal.h
@@ -14,9 +14,8 @@
 namespace hal {
 class Encoder {
  public:
-  Encoder(uint8_t port_a_module, uint32_t port_a_pin,
-          bool port_a_analog_trigger, uint8_t port_b_module,
-          uint32_t port_b_pin, bool port_b_analog_trigger,
+  Encoder(HalHandle digitalSourceHandleA, AnalogTriggerType analogTriggerTypeA,
+          HalHandle digitalSourceHandleB, AnalogTriggerType analogTriggerTypeB,
           bool reverseDirection, EncoderEncodingType encodingType,
           int32_t* status);
   ~Encoder();
@@ -39,7 +38,8 @@ class Encoder {
   void SetSamplesToAverage(int samplesToAverage, int32_t* status);
   int32_t GetSamplesToAverage(int32_t* status) const;
 
-  void SetIndexSource(uint32_t pin, bool analogTrigger,
+  void SetIndexSource(HalHandle digitalSourceHandle,
+                      AnalogTriggerType analogTriggerType,
                       EncoderIndexingType type, int32_t* status);
 
   int32_t GetFPGAIndex() const { return m_index; }
@@ -53,11 +53,11 @@ class Encoder {
   EncoderEncodingType GetEncodingType() const { return m_encodingType; }
 
  private:
-  void SetupCounter(uint8_t port_a_module, uint32_t port_a_pin,
-                    bool port_a_analog_trigger, uint8_t port_b_module,
-                    uint32_t port_b_pin, bool port_b_analog_trigger,
-                    bool reverseDirection, EncoderEncodingType encodingType,
-                    int32_t* status);
+  void SetupCounter(HalHandle digitalSourceHandleA,
+                    AnalogTriggerType analogTriggerTypeA,
+                    HalHandle digitalSourceHandleB,
+                    AnalogTriggerType analogTriggerTypeB, bool reverseDirection,
+                    EncoderEncodingType encodingType, int32_t* status);
 
   HalFPGAEncoderHandle m_encoder = HAL_INVALID_HANDLE;
 
diff --git a/hal/lib/athena/FPGAEncoder.cpp b/hal/lib/athena/FPGAEncoder.cpp
index 9482a7796d..07ab120ea3 100644
--- a/hal/lib/athena/FPGAEncoder.cpp
+++ b/hal/lib/athena/FPGAEncoder.cpp
@@ -27,12 +27,29 @@ static LimitedHandleResource<HalFPGAEncoderHandle, Encoder, kNumEncoders,
     fpgaEncoderHandles;
 
 extern "C" {
-HalFPGAEncoderHandle initializeFPGAEncoder(
-    uint8_t port_a_module, uint32_t port_a_pin, bool port_a_analog_trigger,
-    uint8_t port_b_module, uint32_t port_b_pin, bool port_b_analog_trigger,
-    bool reverseDirection, int32_t* index, int32_t* status) {
-  remapDigitalSource(port_a_analog_trigger, port_a_pin, port_a_module);
-  remapDigitalSource(port_b_analog_trigger, port_b_pin, port_b_module);
+HalFPGAEncoderHandle initializeFPGAEncoder(HalHandle digitalSourceHandleA,
+                                           AnalogTriggerType analogTriggerTypeA,
+                                           HalHandle digitalSourceHandleB,
+                                           AnalogTriggerType analogTriggerTypeB,
+                                           bool reverseDirection,
+                                           int32_t* index, int32_t* status) {
+  bool routingAnalogTriggerA = false;
+  uint32_t routingPinA = 0;
+  uint8_t routingModuleA = 0;
+  bool successA =
+      remapDigitalSource(digitalSourceHandleA, analogTriggerTypeA, routingPinA,
+                         routingModuleA, routingAnalogTriggerA);
+  bool routingAnalogTriggerB = false;
+  uint32_t routingPinB = 0;
+  uint8_t routingModuleB = 0;
+  bool successB =
+      remapDigitalSource(digitalSourceHandleB, analogTriggerTypeB, routingPinB,
+                         routingModuleB, routingAnalogTriggerB);
+
+  if (!successA || !successB) {
+    *status = HAL_HANDLE_ERROR;
+    return HAL_INVALID_HANDLE;
+  }
 
   auto handle = fpgaEncoderHandles.Allocate();
   if (handle == HAL_INVALID_HANDLE) {  // out of resources
@@ -42,7 +59,7 @@ HalFPGAEncoderHandle initializeFPGAEncoder(
 
   auto encoder = fpgaEncoderHandles.Get(handle);
   if (encoder == nullptr) {  // will only error on thread issue
-    *status = PARAMETER_OUT_OF_RANGE;
+    *status = HAL_HANDLE_ERROR;
     return HAL_INVALID_HANDLE;
   }
 
@@ -51,13 +68,13 @@ HalFPGAEncoderHandle initializeFPGAEncoder(
   *index = encoder->index;
   // TODO: if (index == ~0ul) { CloneError(quadEncoders); return; }
   encoder->encoder = tEncoder::create(encoder->index, status);
-  encoder->encoder->writeConfig_ASource_Module(port_a_module, status);
-  encoder->encoder->writeConfig_ASource_Channel(port_a_pin, status);
-  encoder->encoder->writeConfig_ASource_AnalogTrigger(port_a_analog_trigger,
+  encoder->encoder->writeConfig_ASource_Module(routingModuleA, status);
+  encoder->encoder->writeConfig_ASource_Channel(routingPinA, status);
+  encoder->encoder->writeConfig_ASource_AnalogTrigger(routingAnalogTriggerA,
                                                       status);
-  encoder->encoder->writeConfig_BSource_Module(port_b_module, status);
-  encoder->encoder->writeConfig_BSource_Channel(port_b_pin, status);
-  encoder->encoder->writeConfig_BSource_AnalogTrigger(port_b_analog_trigger,
+  encoder->encoder->writeConfig_BSource_Module(routingModuleB, status);
+  encoder->encoder->writeConfig_BSource_Channel(routingPinB, status);
+  encoder->encoder->writeConfig_BSource_AnalogTrigger(routingAnalogTriggerB,
                                                       status);
   encoder->encoder->strobeReset(status);
   encoder->encoder->writeConfig_Reverse(reverseDirection, status);
@@ -71,7 +88,7 @@ void freeFPGAEncoder(HalFPGAEncoderHandle fpga_encoder_handle,
   auto encoder = fpgaEncoderHandles.Get(fpga_encoder_handle);
   fpgaEncoderHandles.Free(fpga_encoder_handle);
   if (encoder == nullptr) {
-    *status = PARAMETER_OUT_OF_RANGE;
+    *status = HAL_HANDLE_ERROR;
     return;
   }
   delete encoder->encoder;
@@ -85,7 +102,7 @@ void resetFPGAEncoder(HalFPGAEncoderHandle fpga_encoder_handle,
                       int32_t* status) {
   auto encoder = fpgaEncoderHandles.Get(fpga_encoder_handle);
   if (encoder == nullptr) {
-    *status = PARAMETER_OUT_OF_RANGE;
+    *status = HAL_HANDLE_ERROR;
     return;
   }
   encoder->encoder->strobeReset(status);
@@ -101,7 +118,7 @@ int32_t getFPGAEncoder(HalFPGAEncoderHandle fpga_encoder_handle,
                        int32_t* status) {
   auto encoder = fpgaEncoderHandles.Get(fpga_encoder_handle);
   if (encoder == nullptr) {
-    *status = PARAMETER_OUT_OF_RANGE;
+    *status = HAL_HANDLE_ERROR;
     return 0;
   }
   return encoder->encoder->readOutput_Value(status);
@@ -121,7 +138,7 @@ double getFPGAEncoderPeriod(HalFPGAEncoderHandle fpga_encoder_handle,
                             int32_t* status) {
   auto encoder = fpgaEncoderHandles.Get(fpga_encoder_handle);
   if (encoder == nullptr) {
-    *status = PARAMETER_OUT_OF_RANGE;
+    *status = HAL_HANDLE_ERROR;
     return 0.0;
   }
   tEncoder::tTimerOutput output = encoder->encoder->readTimerOutput(status);
@@ -157,7 +174,7 @@ void setFPGAEncoderMaxPeriod(HalFPGAEncoderHandle fpga_encoder_handle,
                              double maxPeriod, int32_t* status) {
   auto encoder = fpgaEncoderHandles.Get(fpga_encoder_handle);
   if (encoder == nullptr) {
-    *status = PARAMETER_OUT_OF_RANGE;
+    *status = HAL_HANDLE_ERROR;
     return;
   }
   encoder->encoder->writeTimerConfig_StallPeriod(
@@ -175,7 +192,7 @@ bool getFPGAEncoderStopped(HalFPGAEncoderHandle fpga_encoder_handle,
                            int32_t* status) {
   auto encoder = fpgaEncoderHandles.Get(fpga_encoder_handle);
   if (encoder == nullptr) {
-    *status = PARAMETER_OUT_OF_RANGE;
+    *status = HAL_HANDLE_ERROR;
     return false;
   }
   return encoder->encoder->readTimerOutput_Stalled(status) != 0;
@@ -189,7 +206,7 @@ bool getFPGAEncoderDirection(HalFPGAEncoderHandle fpga_encoder_handle,
                              int32_t* status) {
   auto encoder = fpgaEncoderHandles.Get(fpga_encoder_handle);
   if (encoder == nullptr) {
-    *status = PARAMETER_OUT_OF_RANGE;
+    *status = HAL_HANDLE_ERROR;
     return false;
   }
   return encoder->encoder->readOutput_Direction(status);
@@ -205,7 +222,7 @@ void setFPGAEncoderReverseDirection(HalFPGAEncoderHandle fpga_encoder_handle,
                                     bool reverseDirection, int32_t* status) {
   auto encoder = fpgaEncoderHandles.Get(fpga_encoder_handle);
   if (encoder == nullptr) {
-    *status = PARAMETER_OUT_OF_RANGE;
+    *status = HAL_HANDLE_ERROR;
     return;
   }
   encoder->encoder->writeConfig_Reverse(reverseDirection, status);
@@ -222,7 +239,7 @@ void setFPGAEncoderSamplesToAverage(HalFPGAEncoderHandle fpga_encoder_handle,
                                     int32_t* status) {
   auto encoder = fpgaEncoderHandles.Get(fpga_encoder_handle);
   if (encoder == nullptr) {
-    *status = PARAMETER_OUT_OF_RANGE;
+    *status = HAL_HANDLE_ERROR;
     return;
   }
   if (samplesToAverage < 1 || samplesToAverage > 127) {
@@ -241,7 +258,7 @@ uint32_t getFPGAEncoderSamplesToAverage(
     HalFPGAEncoderHandle fpga_encoder_handle, int32_t* status) {
   auto encoder = fpgaEncoderHandles.Get(fpga_encoder_handle);
   if (encoder == nullptr) {
-    *status = PARAMETER_OUT_OF_RANGE;
+    *status = HAL_HANDLE_ERROR;
     return 0;
   }
   return encoder->encoder->readTimerConfig_AverageSize(status);
@@ -252,17 +269,30 @@ uint32_t getFPGAEncoderSamplesToAverage(
  * encoder's count.
  */
 void setFPGAEncoderIndexSource(HalFPGAEncoderHandle fpga_encoder_handle,
-                               uint32_t pin, bool analogTrigger,
+                               HalHandle digitalSourceHandle,
+                               AnalogTriggerType analogTriggerType,
                                bool activeHigh, bool edgeSensitive,
                                int32_t* status) {
   auto encoder = fpgaEncoderHandles.Get(fpga_encoder_handle);
   if (encoder == nullptr) {
-    *status = PARAMETER_OUT_OF_RANGE;
+    *status = HAL_HANDLE_ERROR;
     return;
   }
-  encoder->encoder->writeConfig_IndexSource_Channel((unsigned char)pin, status);
-  encoder->encoder->writeConfig_IndexSource_Module((unsigned char)0, status);
-  encoder->encoder->writeConfig_IndexSource_AnalogTrigger(analogTrigger,
+
+  bool routingAnalogTrigger = false;
+  uint32_t routingPin = 0;
+  uint8_t routingModule = 0;
+  bool success =
+      remapDigitalSource(digitalSourceHandle, analogTriggerType, routingPin,
+                         routingModule, routingAnalogTrigger);
+  if (!success) {
+    *status = HAL_HANDLE_ERROR;
+    return;
+  }
+
+  encoder->encoder->writeConfig_IndexSource_Channel(routingPin, status);
+  encoder->encoder->writeConfig_IndexSource_Module(routingModule, status);
+  encoder->encoder->writeConfig_IndexSource_AnalogTrigger(routingAnalogTrigger,
                                                           status);
   encoder->encoder->writeConfig_IndexActiveHigh(activeHigh, status);
   encoder->encoder->writeConfig_IndexEdgeSensitive(edgeSensitive, status);
diff --git a/hal/lib/athena/FPGAEncoder.h b/hal/lib/athena/FPGAEncoder.h
index 173a0274cf..6d319b6b27 100644
--- a/hal/lib/athena/FPGAEncoder.h
+++ b/hal/lib/athena/FPGAEncoder.h
@@ -9,14 +9,16 @@
 
 #include <stdint.h>
 
+#include "HAL/AnalogTrigger.h"
 #include "HAL/Handles.h"
 
 extern "C" {
-HalFPGAEncoderHandle initializeFPGAEncoder(
-    uint8_t port_a_module, uint32_t port_a_pin, bool port_a_analog_trigger,
-    uint8_t port_b_module, uint32_t port_b_pin, bool port_b_analog_trigger,
-    bool reverseDirection, int32_t* index,
-    int32_t* status);  // TODO: fix routing
+HalFPGAEncoderHandle initializeFPGAEncoder(HalHandle digitalSourceHandleA,
+                                           AnalogTriggerType analogTriggerTypeA,
+                                           HalHandle digitalSourceHandleB,
+                                           AnalogTriggerType analogTriggerTypeB,
+                                           bool reverseDirection,
+                                           int32_t* index, int32_t* status);
 void freeFPGAEncoder(HalFPGAEncoderHandle fpga_encoder_handle, int32_t* status);
 void resetFPGAEncoder(HalFPGAEncoderHandle fpga_encoder_handle,
                       int32_t* status);
@@ -37,7 +39,8 @@ void setFPGAEncoderSamplesToAverage(HalFPGAEncoderHandle fpga_encoder_handle,
 uint32_t getFPGAEncoderSamplesToAverage(
     HalFPGAEncoderHandle fpga_encoder_handle, int32_t* status);
 void setFPGAEncoderIndexSource(HalFPGAEncoderHandle fpga_encoder_handle,
-                               uint32_t pin, bool analogTrigger,
+                               HalHandle digitalSourceHandle,
+                               AnalogTriggerType analogTriggerType,
                                bool activeHigh, bool edgeSensitive,
                                int32_t* status);
 }
diff --git a/hal/lib/athena/Interrupts.cpp b/hal/lib/athena/Interrupts.cpp
index 0bc1dee664..de0c148aff 100644
--- a/hal/lib/athena/Interrupts.cpp
+++ b/hal/lib/athena/Interrupts.cpp
@@ -14,6 +14,7 @@
 #include "DigitalInternal.h"
 #include "HAL/Errors.h"
 #include "PortsInternal.h"
+#include "handles/HandlesInternal.h"
 #include "handles/LimitedHandleResource.h"
 
 using namespace hal;
@@ -147,19 +148,28 @@ double readFallingTimestamp(HalInterruptHandle interrupt_handle,
 }
 
 void requestInterrupts(HalInterruptHandle interrupt_handle,
-                       uint8_t routing_module, uint32_t routing_pin,
-                       bool routing_analog_trigger, int32_t* status) {
+                       HalHandle digitalSourceHandle,
+                       AnalogTriggerType analogTriggerType, int32_t* status) {
   auto anInterrupt = interruptHandles.Get(interrupt_handle);
   if (anInterrupt == nullptr) {
     *status = HAL_HANDLE_ERROR;
     return;
   }
   anInterrupt->anInterrupt->writeConfig_WaitForAck(false, status);
-  remapDigitalSource(routing_analog_trigger, routing_pin, routing_module);
+  bool routingAnalogTrigger = false;
+  uint32_t routingPin = 0;
+  uint8_t routingModule = 0;
+  bool success =
+      remapDigitalSource(digitalSourceHandle, analogTriggerType, routingPin,
+                         routingModule, routingAnalogTrigger);
+  if (!success) {
+    *status = HAL_HANDLE_ERROR;
+    return;
+  }
   anInterrupt->anInterrupt->writeConfig_Source_AnalogTrigger(
-      routing_analog_trigger, status);
-  anInterrupt->anInterrupt->writeConfig_Source_Channel(routing_pin, status);
-  anInterrupt->anInterrupt->writeConfig_Source_Module(routing_module, status);
+      routingAnalogTrigger, status);
+  anInterrupt->anInterrupt->writeConfig_Source_Channel(routingPin, status);
+  anInterrupt->anInterrupt->writeConfig_Source_Module(routingModule, status);
 }
 
 void attachInterruptHandler(HalInterruptHandle interrupt_handle,
diff --git a/wpilibc/athena/include/AnalogTriggerOutput.h b/wpilibc/athena/include/AnalogTriggerOutput.h
index bedf251303..3106b9c5c2 100644
--- a/wpilibc/athena/include/AnalogTriggerOutput.h
+++ b/wpilibc/athena/include/AnalogTriggerOutput.h
@@ -49,10 +49,10 @@ class AnalogTriggerOutput : public DigitalSource {
   bool Get() const;
 
   // DigitalSource interface
-  virtual uint32_t GetChannelForRouting() const override;
-  virtual uint32_t GetModuleForRouting() const override;
-  virtual bool GetAnalogTriggerForRouting() const override;
-  virtual HalHandle GetPortHandle() const override;
+  virtual HalHandle GetPortHandleForRouting() const override;
+  virtual AnalogTriggerType GetAnalogTriggerTypeForRouting() const override;
+  virtual bool IsAnalogTrigger() const override;
+  virtual uint32_t GetChannel() const override;
 
  protected:
   AnalogTriggerOutput(const AnalogTrigger& trigger,
diff --git a/wpilibc/athena/include/DigitalInput.h b/wpilibc/athena/include/DigitalInput.h
index b488696deb..430d2fdd72 100644
--- a/wpilibc/athena/include/DigitalInput.h
+++ b/wpilibc/athena/include/DigitalInput.h
@@ -29,13 +29,12 @@ class DigitalInput : public DigitalSource, public LiveWindowSendable {
   explicit DigitalInput(uint32_t channel);
   virtual ~DigitalInput();
   bool Get() const;
-  uint32_t GetChannel() const;
+  uint32_t GetChannel() const override;
 
   // Digital Source Interface
-  virtual uint32_t GetChannelForRouting() const;
-  virtual uint32_t GetModuleForRouting() const;
-  virtual bool GetAnalogTriggerForRouting() const;
-  virtual HalHandle GetPortHandle() const;
+  virtual HalHandle GetPortHandleForRouting() const override;
+  virtual AnalogTriggerType GetAnalogTriggerTypeForRouting() const override;
+  virtual bool IsAnalogTrigger() const override;
 
   void UpdateTable();
   void StartLiveWindowMode();
diff --git a/wpilibc/athena/include/DigitalOutput.h b/wpilibc/athena/include/DigitalOutput.h
index a4f85041cb..635b68df3c 100644
--- a/wpilibc/athena/include/DigitalOutput.h
+++ b/wpilibc/athena/include/DigitalOutput.h
@@ -27,7 +27,7 @@ class DigitalOutput : public DigitalSource,
   explicit DigitalOutput(uint32_t channel);
   virtual ~DigitalOutput();
   void Set(uint32_t value);
-  uint32_t GetChannel() const;
+  uint32_t GetChannel() const override;
   void Pulse(float length);
   bool IsPulsing() const;
   void SetPWMRate(float rate);
@@ -36,10 +36,9 @@ class DigitalOutput : public DigitalSource,
   void UpdateDutyCycle(float dutyCycle);
 
   // Digital Source Interface
-  virtual uint32_t GetChannelForRouting() const;
-  virtual uint32_t GetModuleForRouting() const;
-  virtual bool GetAnalogTriggerForRouting() const;
-  virtual HalHandle GetPortHandle() const;
+  virtual HalHandle GetPortHandleForRouting() const override;
+  virtual AnalogTriggerType GetAnalogTriggerTypeForRouting() const override;
+  virtual bool IsAnalogTrigger() const override;
 
   virtual void ValueChanged(ITable* source, llvm::StringRef key,
                             std::shared_ptr<nt::Value> value, bool isNew);
diff --git a/wpilibc/athena/include/DigitalSource.h b/wpilibc/athena/include/DigitalSource.h
index 727a1372cc..ec74ff9381 100644
--- a/wpilibc/athena/include/DigitalSource.h
+++ b/wpilibc/athena/include/DigitalSource.h
@@ -23,8 +23,8 @@
 class DigitalSource : public InterruptableSensorBase {
  public:
   virtual ~DigitalSource() = default;
-  virtual uint32_t GetChannelForRouting() const = 0;
-  virtual uint32_t GetModuleForRouting() const = 0;
-  virtual bool GetAnalogTriggerForRouting() const = 0;
-  virtual HalHandle GetPortHandle() const = 0;
+  virtual HalHandle GetPortHandleForRouting() const = 0;
+  virtual AnalogTriggerType GetAnalogTriggerTypeForRouting() const = 0;
+  virtual bool IsAnalogTrigger() const = 0;
+  virtual uint32_t GetChannel() const = 0;
 };
diff --git a/wpilibc/athena/include/Encoder.h b/wpilibc/athena/include/Encoder.h
index 8355455840..3eb71e8f00 100644
--- a/wpilibc/athena/include/Encoder.h
+++ b/wpilibc/athena/include/Encoder.h
@@ -98,6 +98,7 @@ class Encoder : public SensorBase,
 
   std::shared_ptr<DigitalSource> m_aSource;  // the A phase of the quad encoder
   std::shared_ptr<DigitalSource> m_bSource;  // the B phase of the quad encoder
+  std::unique_ptr<DigitalSource> m_indexSource = nullptr;
   HalEncoderHandle m_encoder = HAL_INVALID_HANDLE;
 
   std::shared_ptr<ITable> m_table;
diff --git a/wpilibc/athena/include/InterruptableSensorBase.h b/wpilibc/athena/include/InterruptableSensorBase.h
index d8300d3e04..1bb92da9c6 100644
--- a/wpilibc/athena/include/InterruptableSensorBase.h
+++ b/wpilibc/athena/include/InterruptableSensorBase.h
@@ -9,6 +9,7 @@
 
 #include <memory>
 
+#include "HAL/AnalogTrigger.h"
 #include "HAL/Interrupts.h"
 #include "SensorBase.h"
 
@@ -23,9 +24,8 @@ class InterruptableSensorBase : public SensorBase {
 
   InterruptableSensorBase();
   virtual ~InterruptableSensorBase() = default;
-  virtual uint32_t GetChannelForRouting() const = 0;
-  virtual uint32_t GetModuleForRouting() const = 0;
-  virtual bool GetAnalogTriggerForRouting() const = 0;
+  virtual HalHandle GetPortHandleForRouting() const = 0;
+  virtual AnalogTriggerType GetAnalogTriggerTypeForRouting() const = 0;
   virtual void RequestInterrupts(
       InterruptHandlerFunction handler,
       void* param);                  ///< Asynchronus handler version.
diff --git a/wpilibc/athena/src/AnalogTriggerOutput.cpp b/wpilibc/athena/src/AnalogTriggerOutput.cpp
index 7b9a371a8f..4742a1d24f 100644
--- a/wpilibc/athena/src/AnalogTriggerOutput.cpp
+++ b/wpilibc/athena/src/AnalogTriggerOutput.cpp
@@ -50,26 +50,26 @@ bool AnalogTriggerOutput::Get() const {
   return result;
 }
 
-/**
- * @return The value to be written to the channel field of a routing mux.
- */
-uint32_t AnalogTriggerOutput::GetChannelForRouting() const {
-  return (m_trigger.m_index << 2) + m_outputType;
-}
-
-/**
- * @return The value to be written to the module field of a routing mux.
- */
-uint32_t AnalogTriggerOutput::GetModuleForRouting() const { return 0; }
-
-/**
- * @return The value to be written to the module field of a routing mux.
- */
-bool AnalogTriggerOutput::GetAnalogTriggerForRouting() const { return true; }
-
 /**
  * @return The HAL Handle to the specified source.
  */
-HalHandle AnalogTriggerOutput::GetPortHandle() const {
+HalHandle AnalogTriggerOutput::GetPortHandleForRouting() const {
   return m_trigger.m_trigger;
 }
+
+/**
+ * Is source an AnalogTrigger
+ */
+bool AnalogTriggerOutput::IsAnalogTrigger() const { return true; }
+
+/**
+ * @return The type of analog trigger output to be used.
+ */
+AnalogTriggerType AnalogTriggerOutput::GetAnalogTriggerTypeForRouting() const {
+  return m_outputType;
+}
+
+/**
+ * @return The channel of the source.
+ */
+uint32_t AnalogTriggerOutput::GetChannel() const { return m_trigger.m_index; }
diff --git a/wpilibc/athena/src/Counter.cpp b/wpilibc/athena/src/Counter.cpp
index c9e3cd0783..9c805a26a6 100644
--- a/wpilibc/athena/src/Counter.cpp
+++ b/wpilibc/athena/src/Counter.cpp
@@ -234,8 +234,8 @@ void Counter::SetUpSource(std::shared_ptr<DigitalSource> source) {
     CloneError(*m_upSource);
   } else {
     int32_t status = 0;
-    setCounterUpSource(m_counter, source->GetChannelForRouting(),
-                       source->GetAnalogTriggerForRouting(), &status);
+    setCounterUpSource(m_counter, source->GetPortHandleForRouting(),
+                       source->GetAnalogTriggerTypeForRouting(), &status);
     wpi_setErrorWithContext(status, getHALErrorMessage(status));
   }
 }
@@ -340,8 +340,8 @@ void Counter::SetDownSource(std::shared_ptr<DigitalSource> source) {
     CloneError(*m_downSource);
   } else {
     int32_t status = 0;
-    setCounterDownSource(m_counter, source->GetChannelForRouting(),
-                         source->GetAnalogTriggerForRouting(), &status);
+    setCounterDownSource(m_counter, source->GetPortHandleForRouting(),
+                         source->GetAnalogTriggerTypeForRouting(), &status);
     wpi_setErrorWithContext(status, getHALErrorMessage(status));
   }
 }
diff --git a/wpilibc/athena/src/DigitalGlitchFilter.cpp b/wpilibc/athena/src/DigitalGlitchFilter.cpp
index 96f6686f52..d798522b41 100644
--- a/wpilibc/athena/src/DigitalGlitchFilter.cpp
+++ b/wpilibc/athena/src/DigitalGlitchFilter.cpp
@@ -53,21 +53,22 @@ void DigitalGlitchFilter::DoAdd(DigitalSource* input, int requested_index) {
   // here, we catch the issue more generally.
   if (input) {
     // we don't support GlitchFilters on AnalogTriggers.
-    if (input->GetAnalogTriggerForRouting()) {
+    if (input->IsAnalogTrigger()) {
       wpi_setErrorWithContext(
           -1, "Analog Triggers not supported for DigitalGlitchFilters");
       return;
     }
     int32_t status = 0;
-    setFilterSelect(input->GetPortHandle(), requested_index, &status);
+    setFilterSelect(input->GetPortHandleForRouting(), requested_index, &status);
     wpi_setErrorWithContext(status, getHALErrorMessage(status));
 
     // Validate that we set it correctly.
-    int actual_index = getFilterSelect(input->GetPortHandle(), &status);
+    int actual_index =
+        getFilterSelect(input->GetPortHandleForRouting(), &status);
     wpi_assertEqual(actual_index, requested_index);
 
     HALReport(HALUsageReporting::kResourceType_DigitalInput,
-              input->GetChannelForRouting());
+              input->GetChannel());
   }
 }
 
diff --git a/wpilibc/athena/src/DigitalInput.cpp b/wpilibc/athena/src/DigitalInput.cpp
index a94d9b3b17..963c5eec9a 100644
--- a/wpilibc/athena/src/DigitalInput.cpp
+++ b/wpilibc/athena/src/DigitalInput.cpp
@@ -78,25 +78,22 @@ bool DigitalInput::Get() const {
  */
 uint32_t DigitalInput::GetChannel() const { return m_channel; }
 
-/**
- * @return The value to be written to the channel field of a routing mux.
- */
-uint32_t DigitalInput::GetChannelForRouting() const { return GetChannel(); }
-
-/**
- * @return The value to be written to the module field of a routing mux.
- */
-uint32_t DigitalInput::GetModuleForRouting() const { return 0; }
-
-/**
- * @return The value to be written to the analog trigger field of a routing mux.
- */
-bool DigitalInput::GetAnalogTriggerForRouting() const { return false; }
-
 /**
  * @return The HAL Handle to the specified source.
  */
-HalHandle DigitalInput::GetPortHandle() const { return m_handle; }
+HalHandle DigitalInput::GetPortHandleForRouting() const { return m_handle; }
+
+/**
+ * Is source an AnalogTrigger
+ */
+bool DigitalInput::IsAnalogTrigger() const { return false; }
+
+/**
+ * @return The type of analog trigger output to be used. 0 for Digitals
+ */
+AnalogTriggerType DigitalInput::GetAnalogTriggerTypeForRouting() const {
+  return (AnalogTriggerType)0;
+}
 
 void DigitalInput::UpdateTable() {
   if (m_table != nullptr) {
diff --git a/wpilibc/athena/src/DigitalOutput.cpp b/wpilibc/athena/src/DigitalOutput.cpp
index 4b17449d25..445f2235f5 100644
--- a/wpilibc/athena/src/DigitalOutput.cpp
+++ b/wpilibc/athena/src/DigitalOutput.cpp
@@ -193,25 +193,22 @@ void DigitalOutput::UpdateDutyCycle(float dutyCycle) {
   wpi_setErrorWithContext(status, getHALErrorMessage(status));
 }
 
-/**
- * @return The value to be written to the channel field of a routing mux.
- */
-uint32_t DigitalOutput::GetChannelForRouting() const { return GetChannel(); }
-
-/**
- * @return The value to be written to the module field of a routing mux.
- */
-uint32_t DigitalOutput::GetModuleForRouting() const { return 0; }
-
-/**
- * @return The value to be written to the analog trigger field of a routing mux.
- */
-bool DigitalOutput::GetAnalogTriggerForRouting() const { return false; }
-
 /**
  * @return The HAL Handle to the specified source.
  */
-HalHandle DigitalOutput::GetPortHandle() const { return m_handle; }
+HalHandle DigitalOutput::GetPortHandleForRouting() const { return m_handle; }
+
+/**
+ * Is source an AnalogTrigger
+ */
+bool DigitalOutput::IsAnalogTrigger() const { return false; }
+
+/**
+ * @return The type of analog trigger output to be used. 0 for Digitals
+ */
+AnalogTriggerType DigitalOutput::GetAnalogTriggerTypeForRouting() const {
+  return (AnalogTriggerType)0;
+}
 
 void DigitalOutput::ValueChanged(ITable* source, llvm::StringRef key,
                                  std::shared_ptr<nt::Value> value, bool isNew) {
diff --git a/wpilibc/athena/src/Encoder.cpp b/wpilibc/athena/src/Encoder.cpp
index 7bc8db87f7..916acd3fc5 100644
--- a/wpilibc/athena/src/Encoder.cpp
+++ b/wpilibc/athena/src/Encoder.cpp
@@ -31,18 +31,18 @@
  */
 void Encoder::InitEncoder(bool reverseDirection, EncodingType encodingType) {
   int32_t status = 0;
-  m_encoder = initializeEncoder(
-      m_aSource->GetModuleForRouting(), m_aSource->GetChannelForRouting(),
-      m_aSource->GetAnalogTriggerForRouting(), m_bSource->GetModuleForRouting(),
-      m_bSource->GetChannelForRouting(),
-      m_bSource->GetAnalogTriggerForRouting(), reverseDirection,
-      (EncoderEncodingType)encodingType, &status);
+  m_encoder = initializeEncoder(m_aSource->GetPortHandleForRouting(),
+                                m_aSource->GetAnalogTriggerTypeForRouting(),
+                                m_bSource->GetPortHandleForRouting(),
+                                m_bSource->GetAnalogTriggerTypeForRouting(),
+                                reverseDirection,
+                                (EncoderEncodingType)encodingType, &status);
   wpi_setErrorWithContext(status, getHALErrorMessage(status));
 
   HALReport(HALUsageReporting::kResourceType_Encoder, GetFPGAIndex(),
             encodingType);
-  LiveWindow::GetInstance()->AddSensor("Encoder",
-                                       m_aSource->GetChannelForRouting(), this);
+  LiveWindow::GetInstance()->AddSensor("Encoder", m_aSource->GetChannel(),
+                                       this);
 }
 
 /**
@@ -447,10 +447,9 @@ double Encoder::PIDGet() {
  * @param type    The state that will cause the encoder to reset
  */
 void Encoder::SetIndexSource(uint32_t channel, Encoder::IndexingType type) {
-  int32_t status = 0;
-  setEncoderIndexSource(m_encoder, channel, false, (EncoderIndexingType)type,
-                        &status);
-  wpi_setErrorWithContext(status, getHALErrorMessage(status));
+  // Force digital input if just given an index
+  m_indexSource = std::make_unique<DigitalInput>(channel);
+  SetIndexSource(m_indexSource.get(), type);
 }
 
 /**
@@ -478,8 +477,8 @@ void Encoder::SetIndexSource(DigitalSource* source,
 void Encoder::SetIndexSource(const DigitalSource& source,
                              Encoder::IndexingType type) {
   int32_t status = 0;
-  setEncoderIndexSource(m_encoder, source.GetChannelForRouting(),
-                        source.GetAnalogTriggerForRouting(),
+  setEncoderIndexSource(m_encoder, source.GetPortHandleForRouting(),
+                        source.GetAnalogTriggerTypeForRouting(),
                         (EncoderIndexingType)type, &status);
   wpi_setErrorWithContext(status, getHALErrorMessage(status));
 }
diff --git a/wpilibc/athena/src/InterruptableSensorBase.cpp b/wpilibc/athena/src/InterruptableSensorBase.cpp
index be43dab229..c9e2ef3b23 100644
--- a/wpilibc/athena/src/InterruptableSensorBase.cpp
+++ b/wpilibc/athena/src/InterruptableSensorBase.cpp
@@ -30,8 +30,8 @@ void InterruptableSensorBase::RequestInterrupts(
   if (StatusIsFatal()) return;  // if allocate failed, out of interrupts
 
   int32_t status = 0;
-  requestInterrupts(m_interrupt, GetModuleForRouting(), GetChannelForRouting(),
-                    GetAnalogTriggerForRouting(), &status);
+  requestInterrupts(m_interrupt, GetPortHandleForRouting(),
+                    GetAnalogTriggerTypeForRouting(), &status);
   SetUpSourceEdge(true, false);
   attachInterruptHandler(m_interrupt, handler, param, &status);
   wpi_setErrorWithContext(status, getHALErrorMessage(status));
@@ -52,8 +52,8 @@ void InterruptableSensorBase::RequestInterrupts() {
   if (StatusIsFatal()) return;  // if allocate failed, out of interrupts
 
   int32_t status = 0;
-  requestInterrupts(m_interrupt, GetModuleForRouting(), GetChannelForRouting(),
-                    GetAnalogTriggerForRouting(), &status);
+  requestInterrupts(m_interrupt, GetPortHandleForRouting(),
+                    GetAnalogTriggerTypeForRouting(), &status);
   wpi_setErrorWithContext(status, getHALErrorMessage(status));
   SetUpSourceEdge(true, false);
 }
diff --git a/wpilibj/src/athena/cpp/lib/CounterJNI.cpp b/wpilibj/src/athena/cpp/lib/CounterJNI.cpp
index 1293b81614..7f366bd9c5 100644
--- a/wpilibj/src/athena/cpp/lib/CounterJNI.cpp
+++ b/wpilibj/src/athena/cpp/lib/CounterJNI.cpp
@@ -82,17 +82,19 @@ Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterAverageSize(
 /*
  * Class:     edu_wpi_first_wpilibj_hal_CounterJNI
  * Method:    setCounterUpSource
- * Signature: (IIZ)V
+ * Signature: (III)V
  */
 JNIEXPORT void JNICALL
 Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterUpSource(
-    JNIEnv* env, jclass, jint id, jint pin, jboolean analogTrigger) {
+    JNIEnv* env, jclass, jint id, jint digitalSourceHandle,
+    jint analogTriggerType) {
   COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterUpSource";
   COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HalCounterHandle)id;
-  COUNTERJNI_LOG(logDEBUG) << "Pin = " << pin;
-  COUNTERJNI_LOG(logDEBUG) << "AnalogTrigger = " << (jint)analogTrigger;
+  COUNTERJNI_LOG(logDEBUG) << "digitalSourceHandle = " << digitalSourceHandle;
+  COUNTERJNI_LOG(logDEBUG) << "analogTriggerType = " << analogTriggerType;
   int32_t status = 0;
-  setCounterUpSource((HalCounterHandle)id, pin, analogTrigger, &status);
+  setCounterUpSource((HalCounterHandle)id, (HalHandle)digitalSourceHandle, 
+                     (AnalogTriggerType)analogTriggerType, &status);
   COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
   CheckStatus(env, status);
 }
@@ -138,13 +140,15 @@ Java_edu_wpi_first_wpilibj_hal_CounterJNI_clearCounterUpSource(
  */
 JNIEXPORT void JNICALL
 Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterDownSource(
-    JNIEnv* env, jclass, jint id, jint pin, jboolean analogTrigger) {
+    JNIEnv* env, jclass, jint id, jint digitalSourceHandle,
+    jint analogTriggerType) {
   COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterDownSource";
   COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HalCounterHandle)id;
-  COUNTERJNI_LOG(logDEBUG) << "Pin = " << pin;
-  COUNTERJNI_LOG(logDEBUG) << "AnalogTrigger = " << (jint)analogTrigger;
+  COUNTERJNI_LOG(logDEBUG) << "digitalSourceHandle = " << digitalSourceHandle;
+  COUNTERJNI_LOG(logDEBUG) << "analogTriggerType = " << analogTriggerType;
   int32_t status = 0;
-  setCounterDownSource((HalCounterHandle)id, pin, analogTrigger, &status);
+  setCounterDownSource((HalCounterHandle)id, (HalHandle)digitalSourceHandle, 
+                       (AnalogTriggerType)analogTriggerType, &status);
   COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
   if (status == PARAMETER_OUT_OF_RANGE) {
     ThrowIllegalArgumentException(env,
diff --git a/wpilibj/src/athena/cpp/lib/EncoderJNI.cpp b/wpilibj/src/athena/cpp/lib/EncoderJNI.cpp
index 20b3cedff1..03dffb0873 100644
--- a/wpilibj/src/athena/cpp/lib/EncoderJNI.cpp
+++ b/wpilibj/src/athena/cpp/lib/EncoderJNI.cpp
@@ -29,29 +29,27 @@ extern "C" {
 /*
  * Class:     edu_wpi_first_wpilibj_hal_EncoderJNI
  * Method:    initializeEncoder
- * Signature: (BIZBIZZI)I
+ * Signature: (IIIIZI)I
  */
 JNIEXPORT jint JNICALL
 Java_edu_wpi_first_wpilibj_hal_EncoderJNI_initializeEncoder(
-    JNIEnv* env, jclass, jbyte port_a_module, jint port_a_pin,
-    jboolean port_a_analog_trigger, jbyte port_b_module, jint port_b_pin,
-    jboolean port_b_analog_trigger, jboolean reverseDirection, jint encodingType) {
+    JNIEnv* env, jclass, jint digitalSourceHandleA, jint analogTriggerTypeA,
+    jint digitalSourceHandleB, jint analogTriggerTypeB, jboolean reverseDirection, 
+    jint encodingType) {
   ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI initializeEncoder";
-  ENCODERJNI_LOG(logDEBUG) << "Module A = " << (jint)port_a_module;
-  ENCODERJNI_LOG(logDEBUG) << "Pin A = " << port_a_pin;
-  ENCODERJNI_LOG(logDEBUG) << "Analog Trigger A = "
-                           << (jint)port_a_analog_trigger;
-  ENCODERJNI_LOG(logDEBUG) << "Module B = " << (jint)port_b_module;
-  ENCODERJNI_LOG(logDEBUG) << "Pin B = " << port_b_pin;
-  ENCODERJNI_LOG(logDEBUG) << "Analog Trigger B = "
-                           << (jint)port_b_analog_trigger;
+  ENCODERJNI_LOG(logDEBUG) << "Source Handle A = " << digitalSourceHandleA;
+  ENCODERJNI_LOG(logDEBUG) << "Analog Trigger Type A = "
+                           << analogTriggerTypeA;
+  ENCODERJNI_LOG(logDEBUG) << "Source Handle B = " << digitalSourceHandleB;
+  ENCODERJNI_LOG(logDEBUG) << "Analog Trigger Type B = "
+                           << analogTriggerTypeB;
   ENCODERJNI_LOG(logDEBUG) << "Reverse direction = " << (jint)reverseDirection;
   ENCODERJNI_LOG(logDEBUG) << "EncodingType = " << encodingType;
   int32_t status = 0;
   auto encoder = initializeEncoder(
-      port_a_module, port_a_pin, port_a_analog_trigger, port_b_module,
-      port_b_pin, port_b_analog_trigger, reverseDirection,
-      (EncoderEncodingType)encodingType, &status);
+      (HalHandle)digitalSourceHandleA, (AnalogTriggerType)analogTriggerTypeA, 
+      (HalHandle)digitalSourceHandleB, (AnalogTriggerType)analogTriggerTypeB,
+      reverseDirection, (EncoderEncodingType)encodingType, &status);
       
   ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
   ENCODERJNI_LOG(logDEBUG) << "ENCODER Handle = " << encoder;
@@ -336,20 +334,21 @@ Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderSamplesToAverage(
 /*
  * Class:     edu_wpi_first_wpilibj_hal_EncoderJNI
  * Method:    setEncoderIndexSource
- * Signature: (IIZI)V
+ * Signature: (IIII)V
  */
 JNIEXPORT void JNICALL
 Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderIndexSource(
-    JNIEnv* env, jclass, jint id, jint pin, jboolean analogTrigger,
-    jint type) {
+    JNIEnv* env, jclass, jint id, jint digitalSourceHandle, 
+    jint analogTriggerType, jint type) {
   ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI setEncoderIndexSource";
   ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HalEncoderHandle)id;
-  ENCODERJNI_LOG(logDEBUG) << "Pin = " << pin;
-  ENCODERJNI_LOG(logDEBUG) << "Analog Trigger = "
-                           << (analogTrigger ? "true" : "false");
+  ENCODERJNI_LOG(logDEBUG) << "Source Handle = " << digitalSourceHandle;
+  ENCODERJNI_LOG(logDEBUG) << "Analog Trigger Type = "
+                           << analogTriggerType;
   ENCODERJNI_LOG(logDEBUG) << "IndexingType = " << type;
   int32_t status = 0;
-  setEncoderIndexSource((HalEncoderHandle)id, pin, analogTrigger, 
+  setEncoderIndexSource((HalEncoderHandle)id, (HalHandle)digitalSourceHandle, 
+                        (AnalogTriggerType)analogTriggerType, 
                         (EncoderIndexingType)type, &status);
   ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
   CheckStatus(env, status);
diff --git a/wpilibj/src/athena/cpp/lib/InterruptJNI.cpp b/wpilibj/src/athena/cpp/lib/InterruptJNI.cpp
index 8845f9364c..dc48eedb67 100644
--- a/wpilibj/src/athena/cpp/lib/InterruptJNI.cpp
+++ b/wpilibj/src/athena/cpp/lib/InterruptJNI.cpp
@@ -257,22 +257,20 @@ Java_edu_wpi_first_wpilibj_hal_InterruptJNI_readFallingTimestamp(
 /*
  * Class:     edu_wpi_first_wpilibj_hal_InterruptJNI
  * Method:    requestInterrupts
- * Signature: (JBIZ)V
+ * Signature: (III)V
  */
 JNIEXPORT void JNICALL
 Java_edu_wpi_first_wpilibj_hal_InterruptJNI_requestInterrupts(
-    JNIEnv* env, jclass, jint interrupt_handle, jbyte routing_module,
-    jint routing_pin, jboolean routing_analog_trigger) {
+    JNIEnv* env, jclass, jint interrupt_handle, jint digitalSourceHandle,
+    jint analogTriggerType) {
   INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI requestInterrupts";
   INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HalInterruptHandle)interrupt_handle;
-  INTERRUPTJNI_LOG(logDEBUG) << "routing module = " << (jint)routing_module;
-  INTERRUPTJNI_LOG(logDEBUG) << "routing pin = " << routing_pin;
-  INTERRUPTJNI_LOG(logDEBUG) << "routing analog trigger = "
-                             << (jint)routing_analog_trigger;
+  INTERRUPTJNI_LOG(logDEBUG) << "digitalSourceHandle = " << digitalSourceHandle;
+  INTERRUPTJNI_LOG(logDEBUG) << "analogTriggerType = " << analogTriggerType;
 
   int32_t status = 0;
-  requestInterrupts((HalInterruptHandle)interrupt_handle, (uint8_t)routing_module,
-                    (uint32_t)routing_pin, routing_analog_trigger, &status);
+  requestInterrupts((HalInterruptHandle)interrupt_handle, (HalHandle)digitalSourceHandle, 
+                    (AnalogTriggerType)analogTriggerType, &status);
 
   INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
   CheckStatus(env, status);
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogTriggerOutput.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogTriggerOutput.java
index 8a4b25804e..722786eda4 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogTriggerOutput.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogTriggerOutput.java
@@ -101,23 +101,23 @@ public class AnalogTriggerOutput extends DigitalSource {
   }
 
   @Override
-  public int getChannelForRouting() {
-    return (m_trigger.m_index << 2) + m_outputType.m_value;
+  public int getPortHandleForRouting() {
+    return m_trigger.m_port;
   }
 
   @Override
-  public byte getModuleForRouting() {
-    return (byte) (m_trigger.m_index >> 2);
-  }
-
-  @Override
-  public boolean getAnalogTriggerForRouting() {
-    return true;
+  public int getAnalogTriggerTypeForRouting() {
+    return m_outputType.m_value;
   }
   
   @Override
-  public int getPortHandle() {
-    return m_trigger.m_port;
+  public int getChannel() {
+    return m_trigger.m_index;
+  }
+  
+  @Override
+  public boolean isAnalogTrigger() {
+    return true;
   }
 
   /**
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Counter.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Counter.java
index f2873e9d52..db72ef18ae 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Counter.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Counter.java
@@ -230,8 +230,8 @@ public class Counter extends SensorBase implements CounterBase, LiveWindowSendab
       m_allocatedUpSource = false;
     }
     m_upSource = source;
-    CounterJNI.setCounterUpSource(m_counter, source.getChannelForRouting(),
-        source.getAnalogTriggerForRouting());
+    CounterJNI.setCounterUpSource(m_counter, source.getPortHandleForRouting(),
+        source.getAnalogTriggerTypeForRouting());
   }
 
   /**
@@ -303,8 +303,8 @@ public class Counter extends SensorBase implements CounterBase, LiveWindowSendab
       m_downSource.free();
       m_allocatedDownSource = false;
     }
-    CounterJNI.setCounterDownSource(m_counter, source.getChannelForRouting(),
-        source.getAnalogTriggerForRouting());
+    CounterJNI.setCounterDownSource(m_counter, source.getPortHandleForRouting(),
+        source.getAnalogTriggerTypeForRouting());
     m_downSource = source;
   }
 
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/DigitalGlitchFilter.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/DigitalGlitchFilter.java
index 364c6f7cf1..5aa7d2204c 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/DigitalGlitchFilter.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/DigitalGlitchFilter.java
@@ -54,12 +54,12 @@ public class DigitalGlitchFilter extends SensorBase {
   private static void setFilter(DigitalSource input, int channelIndex) {
     if (input != null) { // Counter might have just one input
       // analog triggers are not supported for DigitalGlitchFilters
-      if (input.getAnalogTriggerForRouting()) {
+      if (input.isAnalogTrigger()) {
         throw new IllegalStateException("Analog Triggers not supported for DigitalGlitchFilters");
       }
-      DigitalGlitchFilterJNI.setFilterSelect(input.getPortHandle(), channelIndex);
+      DigitalGlitchFilterJNI.setFilterSelect(input.getPortHandleForRouting(), channelIndex);
 
-      int selected = DigitalGlitchFilterJNI.getFilterSelect(input.getPortHandle());
+      int selected = DigitalGlitchFilterJNI.getFilterSelect(input.getPortHandleForRouting());
       if (selected != channelIndex) {
         throw new IllegalStateException("DigitalGlitchFilterJNI.setFilterSelect("
             + channelIndex + ") failed -> " + selected);
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/DigitalInput.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/DigitalInput.java
index 1afba3e24a..38ed9ac869 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/DigitalInput.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/DigitalInput.java
@@ -65,37 +65,28 @@ public class DigitalInput extends DigitalSource implements LiveWindowSendable {
    *
    * @return The GPIO channel number that this object represents.
    */
+  @Override
   public int getChannel() {
     return m_channel;
   }
 
   /**
-   * Get the channel routing number.
+   * Get the analog trigger type.
    *
-   * @return channel routing number
+   * @return false
    */
   @Override
-  public int getChannelForRouting() {
-    return m_channel;
-  }
-
-  /**
-   * Get the module routing number.
-   *
-   * @return 0
-   */
-  @Override
-  public byte getModuleForRouting() {
+  public int getAnalogTriggerTypeForRouting() {
     return 0;
   }
-
+  
   /**
    * Is this an analog trigger.
    *
    * @return true if this is an analog trigger
    */
   @Override
-  public boolean getAnalogTriggerForRouting() {
+  public boolean isAnalogTrigger() {
     return false;
   }
   
@@ -105,11 +96,10 @@ public class DigitalInput extends DigitalSource implements LiveWindowSendable {
    * @return The HAL Handle to the specified source.
    */
   @Override
-  public int getPortHandle() {
+  public int getPortHandleForRouting() {
     return m_handle;
   }
 
-
   @Override
   public String getSmartDashboardType() {
     return "Digital Input";
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/DigitalOutput.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/DigitalOutput.java
index e486b0aa9f..ca774a4a36 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/DigitalOutput.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/DigitalOutput.java
@@ -67,6 +67,7 @@ public class DigitalOutput extends DigitalSource implements LiveWindowSendable {
   /**
    * @return The GPIO channel number that this object represents.
    */
+  @Override 
   public int getChannel() {
     return m_channel;
   }
@@ -170,34 +171,24 @@ public class DigitalOutput extends DigitalSource implements LiveWindowSendable {
     }
     DIOJNI.setDigitalPWMDutyCycle(m_pwmGenerator, dutyCycle);
   }
-  
-  /**
-   * Get the channel routing number.
-   *
-   * @return channel routing number
-   */
-  @Override
-  public int getChannelForRouting() {
-    return m_channel;
-  }
 
   /**
-   * Get the module routing number.
+   * Get the analog trigger type.
    *
-   * @return 0
+   * @return false
    */
   @Override
-  public byte getModuleForRouting() {
+  public int getAnalogTriggerTypeForRouting() {
     return 0;
   }
-
+  
   /**
    * Is this an analog trigger.
    *
    * @return true if this is an analog trigger
    */
   @Override
-  public boolean getAnalogTriggerForRouting() {
+  public boolean isAnalogTrigger() {
     return false;
   }
   
@@ -207,7 +198,7 @@ public class DigitalOutput extends DigitalSource implements LiveWindowSendable {
    * @return The HAL Handle to the specified source.
    */
   @Override
-  public int getPortHandle() {
+  public int getPortHandleForRouting() {
     return m_handle;
   }
 
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/DigitalSource.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/DigitalSource.java
index c4596145a0..f4626dec1b 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/DigitalSource.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/DigitalSource.java
@@ -14,5 +14,7 @@ package edu.wpi.first.wpilibj;
  * source. The source can either be a digital input or analog trigger but not both.
  */
 public abstract class DigitalSource extends InterruptableSensorBase {
-  public abstract int getPortHandle();
+  public abstract boolean isAnalogTrigger();
+  
+  public abstract int getChannel();
 }
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Encoder.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Encoder.java
index d25e4368d6..e93d42a725 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Encoder.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Encoder.java
@@ -16,6 +16,7 @@ import edu.wpi.first.wpilibj.hal.EncoderJNI;
 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
 import edu.wpi.first.wpilibj.tables.ITable;
+import edu.wpi.first.wpilibj.util.AllocationException;
 
 /**
  * Class to read quad encoders. Quadrature encoders are devices that count shaft rotation and can
@@ -72,15 +73,14 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
    * @param reverseDirection If true, counts down instead of up (this is all relative)
    */
   private void initEncoder(boolean reverseDirection, final EncodingType type) {
-    m_encoder = EncoderJNI.initializeEncoder(m_aSource.getModuleForRouting(), 
-      (byte)m_aSource.getChannelForRouting(), m_aSource.getAnalogTriggerForRouting(), 
-      m_bSource.getModuleForRouting(), (byte)m_bSource.getChannelForRouting(), 
-      m_bSource.getAnalogTriggerForRouting(), reverseDirection, type.value);
+    m_encoder = EncoderJNI.initializeEncoder(m_aSource.getPortHandleForRouting(), 
+      m_aSource.getAnalogTriggerTypeForRouting(), m_bSource.getPortHandleForRouting(), 
+      m_bSource.getAnalogTriggerTypeForRouting(), reverseDirection, type.value);
       
     m_pidSource = PIDSourceType.kDisplacement;
 
     UsageReporting.report(tResourceType.kResourceType_Encoder, getFPGAIndex(), type.value);
-    LiveWindow.addSensor("Encoder", m_aSource.getChannelForRouting(), this);
+    LiveWindow.addSensor("Encoder", m_aSource.getChannel(), this);
   }
 
   /**
@@ -164,7 +164,7 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
     m_bSource = new DigitalInput(channelB);
     m_indexSource = new DigitalInput(indexChannel);
     initEncoder(reverseDirection, EncodingType.k4X);
-    setIndexSource(indexChannel);
+    setIndexSource(m_indexSource);
   }
 
   /**
@@ -564,7 +564,12 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
    * @param type    The state that will cause the encoder to reset
    */
   public void setIndexSource(int channel, IndexingType type) {
-    EncoderJNI.setEncoderIndexSource(m_encoder, channel, false, type.value);
+    if (m_allocatedI) {
+      throw new AllocationException("Digital Input for Indexing already allocated");
+    }
+    m_indexSource = new DigitalInput(channel);
+    m_allocatedI = true;
+    setIndexSource(m_indexSource, type);
   }
 
   /**
@@ -575,8 +580,8 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
    * @param type   The state that will cause the encoder to reset
    */
   public void setIndexSource(DigitalSource source, IndexingType type) {
-    EncoderJNI.setEncoderIndexSource(m_encoder, source.getChannelForRouting(), 
-                                     source.getAnalogTriggerForRouting(), type.value);
+    EncoderJNI.setEncoderIndexSource(m_encoder, source.getPortHandleForRouting(), 
+                                     source.getAnalogTriggerTypeForRouting(), type.value);
   }
 
   /**
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/InterruptableSensorBase.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/InterruptableSensorBase.java
index 5655019027..68223820fc 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/InterruptableSensorBase.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/InterruptableSensorBase.java
@@ -61,21 +61,14 @@ public abstract class InterruptableSensorBase extends SensorBase {
    *
    * @return true if this is an analog trigger.
    */
-  abstract boolean getAnalogTriggerForRouting();
+  public abstract int getAnalogTriggerTypeForRouting();
 
   /**
    * The channel routing number.
    *
    * @return channel routing number
    */
-  abstract int getChannelForRouting();
-
-  /**
-   * The modules routing number.
-   *
-   * @return module routing number
-   */
-  abstract byte getModuleForRouting();
+  public abstract int getPortHandleForRouting();
 
   /**
    * Request one of the 8 interrupts asynchronously on this digital input.
@@ -95,8 +88,8 @@ public abstract class InterruptableSensorBase extends SensorBase {
 
     assert (m_interrupt != 0);
 
-    InterruptJNI.requestInterrupts(m_interrupt, getModuleForRouting(), getChannelForRouting(),
-        getAnalogTriggerForRouting());
+    InterruptJNI.requestInterrupts(m_interrupt, getPortHandleForRouting(), 
+                                   getAnalogTriggerTypeForRouting());
     setUpSourceEdge(true, false);
     InterruptJNI.attachInterruptHandler(m_interrupt, handler.m_function,
         handler.overridableParameter());
@@ -116,8 +109,8 @@ public abstract class InterruptableSensorBase extends SensorBase {
 
     assert (m_interrupt != 0);
 
-    InterruptJNI.requestInterrupts(m_interrupt, getModuleForRouting(), getChannelForRouting(),
-        getAnalogTriggerForRouting());
+    InterruptJNI.requestInterrupts(m_interrupt, getPortHandleForRouting(), 
+                                   getAnalogTriggerTypeForRouting());
     setUpSourceEdge(true, false);
 
   }
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/CounterJNI.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/CounterJNI.java
index 1d9cf758d2..b3a2549905 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/CounterJNI.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/CounterJNI.java
@@ -16,16 +16,16 @@ public class CounterJNI extends JNIWrapper {
 
   public static native void setCounterAverageSize(int counterHandle, int size);
 
-  public static native void setCounterUpSource(int counterHandle, int pin,
-                                               boolean analogTrigger);
+  public static native void setCounterUpSource(int counterHandle, int digitalSourceHandle, 
+                                               int analogTriggerType);
 
   public static native void setCounterUpSourceEdge(int counterHandle, boolean risingEdge,
                                                    boolean fallingEdge);
 
   public static native void clearCounterUpSource(int counterHandle);
 
-  public static native void setCounterDownSource(int counterHandle, int pin,
-                                                 boolean analogTrigger);
+  public static native void setCounterDownSource(int counterHandle, int digitalSourceHandle, 
+                                                 int analogTriggerType);
 
   public static native void setCounterDownSourceEdge(int counterHandle, boolean risingEdge,
                                                      boolean fallingEdge);
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/EncoderJNI.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/EncoderJNI.java
index f30ed7bd44..ce271aae11 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/EncoderJNI.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/EncoderJNI.java
@@ -11,10 +11,9 @@ import java.nio.IntBuffer;
 
 public class EncoderJNI extends JNIWrapper {
   
-  public static native int initializeEncoder(byte portAModule, int portAPin,
-                                              boolean portAAnalogTrigger, byte portBModule,
-                                              int portBPin, boolean portBAnalogTrigger,
-                                              boolean reverseDirection, int encodingType);
+  public static native int initializeEncoder(int digitalSourceHandleA, int analogTriggerTypeA, 
+                                             int digitalSourceHandleB, int analogTriggerTypeB,
+                                             boolean reverseDirection, int encodingType);
 
   public static native void freeEncoder(int encoderHandle);
 
@@ -50,8 +49,8 @@ public class EncoderJNI extends JNIWrapper {
 
   public static native int getEncoderSamplesToAverage(int encoderHandle);
 
-  public static native void setEncoderIndexSource(int encoderHandle, int pin,
-                                                  boolean analogTrigger, int indexingType);
+  public static native void setEncoderIndexSource(int encoderHandle, int digitalSourceHandle, 
+                                                  int analogTriggerType, int indexingType);
   
   @SuppressWarnings("AbbreviationAsWordInName")
   public static native int getEncoderFPGAIndex(int encoderHandle);
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/InterruptJNI.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/InterruptJNI.java
index fd4e60b31a..cfaa71e66b 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/InterruptJNI.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/InterruptJNI.java
@@ -29,8 +29,8 @@ public class InterruptJNI extends JNIWrapper {
 
   public static native double readFallingTimestamp(int interruptHandle);
 
-  public static native void requestInterrupts(int interruptHandle, byte routingModule,
-                                              int routingPin, boolean routingAnalogTrigger);
+  public static native void requestInterrupts(int interruptHandle, int digitalSourceHandle, 
+                                              int analogTriggerType);
 
   public static native void attachInterruptHandler(int interruptHandle,
                                                    InterruptJNIHandlerFunction handler,