diff --git a/wpilibj/wpilibJavaSim/src/main/java/edu/wpi/first/wpilibj/AnalogInput.java b/wpilibj/wpilibJavaSim/src/main/java/edu/wpi/first/wpilibj/AnalogInput.java
index f25f23b143..31feefa41e 100644
--- a/wpilibj/wpilibJavaSim/src/main/java/edu/wpi/first/wpilibj/AnalogInput.java
+++ b/wpilibj/wpilibJavaSim/src/main/java/edu/wpi/first/wpilibj/AnalogInput.java
@@ -31,7 +31,7 @@ public class AnalogInput extends SensorBase implements PIDSource,
 
 	private SimFloatInput m_impl;
 	private int m_channel;
-  protected PIDSourceParameter m_pidSource = PIDSourceParameter.kDistance;
+  protected PIDSourceType m_pidSource = PIDSourceType.kDisplacement;
 
 	/**
 	 * Construct an analog channel.
@@ -91,14 +91,14 @@ public class AnalogInput extends SensorBase implements PIDSource,
   /**
    * {@inheritDoc}
    */
-  public void setPIDSourceParameter(PIDSourceParameter pidSource) {
+  public void setPIDSourceType(PIDSourceType pidSource) {
     m_pidSource = pidSource;
   }
 
   /**
    * {@inheritDoc}
    */
-  public PIDSourceParameter getPIDSourceParameter() {
+  public PIDSourceType getPIDSourceType() {
     return m_pidSource;
   }
 
diff --git a/wpilibj/wpilibJavaSim/src/main/java/edu/wpi/first/wpilibj/AnalogPotentiometer.java b/wpilibj/wpilibJavaSim/src/main/java/edu/wpi/first/wpilibj/AnalogPotentiometer.java
index 460ad8c2c4..a039304462 100644
--- a/wpilibj/wpilibJavaSim/src/main/java/edu/wpi/first/wpilibj/AnalogPotentiometer.java
+++ b/wpilibj/wpilibJavaSim/src/main/java/edu/wpi/first/wpilibj/AnalogPotentiometer.java
@@ -21,7 +21,7 @@ public class AnalogPotentiometer implements Potentiometer, LiveWindowSendable {
     private double m_scale, m_offset;
     private AnalogInput m_analog_input;
     private boolean m_init_analog_input;
-  protected PIDSourceParameter m_pidSource = PIDSourceParameter.kDistance;
+  protected PIDSourceType m_pidSource = PIDSourceType.kDisplacement;
 
     /**
      * Common initialization code called by all constructors.
@@ -138,14 +138,14 @@ public class AnalogPotentiometer implements Potentiometer, LiveWindowSendable {
   /**
    * {@inheritDoc}
    */
-  public void setPIDSourceParameter(PIDSourceParameter pidSource) {
+  public void setPIDSourceType(PIDSourceType pidSource) {
     m_pidSource = pidSource;
   }
 
   /**
    * {@inheritDoc}
    */
-  public PIDSourceParameter getPIDSourceParameter() {
+  public PIDSourceType getPIDSourceType() {
     return m_pidSource;
   }
 
diff --git a/wpilibj/wpilibJavaSim/src/main/java/edu/wpi/first/wpilibj/CounterBase.java b/wpilibj/wpilibJavaSim/src/main/java/edu/wpi/first/wpilibj/CounterBase.java
index 29216391ba..566c5ba1ab 100644
--- a/wpilibj/wpilibJavaSim/src/main/java/edu/wpi/first/wpilibj/CounterBase.java
+++ b/wpilibj/wpilibJavaSim/src/main/java/edu/wpi/first/wpilibj/CounterBase.java
@@ -20,31 +20,28 @@ public interface CounterBase {
     /**
      * The number of edges for the counterbase to increment or decrement on
      */
-    public static class EncodingType {
+    public enum EncodingType {
+      /**
+       * Count only the rising edge
+       */
+      k1X(0),
+      /**
+       * Count both the rising and falling edge
+       */
+      k2X(1),
+      /**
+       * Count rising and falling on both channels
+       */
+      k4X(2);
 
-        /**
-         * The integer value representing this enumeration
-         */
-        public final int value;
-        static final int k1X_val = 0;
-        static final int k2X_val = 1;
-        static final int k4X_val = 2;
-        /**
-         * Count only the rising edge
-         */
-        public static final EncodingType k1X = new EncodingType(k1X_val);
-        /**
-         * Count both the rising and falling edge
-         */
-        public static final EncodingType k2X = new EncodingType(k2X_val);
-        /**
-         * Count rising and falling on both channels
-         */
-        public static final EncodingType k4X = new EncodingType(k4X_val);
+      /**
+       * The integer value representing this enumeration
+       */
+      public final int value;
 
-        private EncodingType(int value) {
-            this.value = value;
-        }
+      private EncodingType(int value) {
+        this.value = value;
+      }
     }
 
     /**
diff --git a/wpilibj/wpilibJavaSim/src/main/java/edu/wpi/first/wpilibj/Encoder.java b/wpilibj/wpilibJavaSim/src/main/java/edu/wpi/first/wpilibj/Encoder.java
index 4553ad1943..80e1196509 100644
--- a/wpilibj/wpilibJavaSim/src/main/java/edu/wpi/first/wpilibj/Encoder.java
+++ b/wpilibj/wpilibJavaSim/src/main/java/edu/wpi/first/wpilibj/Encoder.java
@@ -10,7 +10,6 @@ import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
 import edu.wpi.first.wpilibj.simulation.SimEncoder;
 import edu.wpi.first.wpilibj.tables.ITable;
-import edu.wpi.first.wpilibj.util.BoundaryException;
 
 /**
  * Class to read quad encoders. Quadrature encoders are devices that count shaft
@@ -34,7 +33,7 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
 	private boolean m_allocatedB;
 	private boolean m_allocatedI;
 	private boolean m_reverseDirection;
-	private PIDSourceParameter m_pidSource;
+	private PIDSourceType m_pidSource;
 	private SimEncoder impl;
 
 	/**
@@ -56,7 +55,7 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
 	 */
 	private void initEncoder(int aChannel, int bChannel, boolean reverseDirection) {
 		m_distancePerPulse = 1.0;
-		m_pidSource = PIDSourceParameter.kDistance;
+		m_pidSource = PIDSourceType.kDisplacement;
 		m_encodingScale = m_encodingType == EncodingType.k4X ? 4
 			: m_encodingType == EncodingType.k2X ? 2
 			: 1;
@@ -275,15 +274,14 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
 	 * @param pidSource
 	 *            An enum to select the parameter.
 	 */
-	public void setPIDSourceParameter(PIDSourceParameter pidSource) {
-		BoundaryException.assertWithinBounds(pidSource.value, 0, 1);
+	public void setPIDSourceType(PIDSourceType pidSource) {
 		m_pidSource = pidSource;
 	}
 
     /**
      * {@inheritDoc}
      */
-    public PIDSourceParameter getPIDSourceParameter() {
+    public PIDSourceType getPIDSourceType() {
       return m_pidSource;
     }
 
@@ -293,10 +291,10 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
 	 * @return The current value of the selected source parameter.
 	 */
 	public double pidGet() {
-		switch (m_pidSource.value) {
-		case PIDSourceParameter.kDistance_val:
+		switch (m_pidSource) {
+		case kDisplacement:
 			return getDistance();
-		case PIDSourceParameter.kRate_val:
+		case kRate:
 			return getRate();
 		default:
 			return 0.0;
@@ -307,8 +305,8 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
 	 * Live Window code, only does anything if live window is activated.
 	 */
 	public String getSmartDashboardType() {
-		switch (m_encodingType.value) {
-		case EncodingType.k4X_val:
+		switch (m_encodingType) {
+		case k4X:
 			return "Quadrature Encoder";
 		default:
 			return "Encoder";
diff --git a/wpilibj/wpilibJavaSim/src/main/java/edu/wpi/first/wpilibj/Gyro.java b/wpilibj/wpilibJavaSim/src/main/java/edu/wpi/first/wpilibj/Gyro.java
index bfe13be102..023044497e 100644
--- a/wpilibj/wpilibJavaSim/src/main/java/edu/wpi/first/wpilibj/Gyro.java
+++ b/wpilibj/wpilibJavaSim/src/main/java/edu/wpi/first/wpilibj/Gyro.java
@@ -10,7 +10,6 @@ import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
 import edu.wpi.first.wpilibj.simulation.SimGyro;
 import edu.wpi.first.wpilibj.tables.ITable;
-import edu.wpi.first.wpilibj.util.BoundaryException;
 
 /**
  * Use a rate gyro to return the robots heading relative to a starting position.
@@ -23,7 +22,7 @@ import edu.wpi.first.wpilibj.util.BoundaryException;
  */
 public class Gyro extends SensorBase implements PIDSource, LiveWindowSendable {
 
-	private PIDSourceParameter m_pidSource;
+	private PIDSourceType m_pidSource;
 	private SimGyro impl;
 
 	/**
@@ -38,7 +37,7 @@ public class Gyro extends SensorBase implements PIDSource, LiveWindowSendable {
 		impl = new SimGyro("simulator/analog/"+channel);
 
 		reset();
-		setPIDSourceParameter(PIDSourceParameter.kAngle);
+		setPIDSourceType(PIDSourceType.kDisplacement);
 
 		LiveWindow.addSensor("Gyro", channel, this);
 	}
@@ -113,15 +112,14 @@ public class Gyro extends SensorBase implements PIDSource, LiveWindowSendable {
 	 * @param pidSource
 	 *            An enum to select the parameter.
 	 */
-	public void setPIDSourceParameter(PIDSourceParameter pidSource) {
-		BoundaryException.assertWithinBounds(pidSource.value, 1, 2);
+	public void setPIDSourceType(PIDSourceType pidSource) {
 		m_pidSource = pidSource;
 	}
 
     /**
      * {@inheritDoc}
      */
-    public PIDSourceParameter getPIDSourceParameter() {
+    public PIDSourceType getPIDSourceType() {
       return m_pidSource;
     }
 
@@ -131,10 +129,10 @@ public class Gyro extends SensorBase implements PIDSource, LiveWindowSendable {
 	 * @return the current angle according to the gyro
 	 */
 	public double pidGet() {
-		switch (m_pidSource.value) {
-		case PIDSourceParameter.kRate_val:
+		switch (m_pidSource) {
+		case kRate:
 			return getRate();
-		case PIDSourceParameter.kAngle_val:
+		case kDisplacement:
 			return getAngle();
 		default:
 			return 0.0;