diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/SwerveModule.cpp b/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/SwerveModule.cpp
index 8783385e91..fb07c15050 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/SwerveModule.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/SwerveModule.cpp
@@ -8,8 +8,15 @@
 #include <wpi/math>
 
 SwerveModule::SwerveModule(const int driveMotorChannel,
-                           const int turningMotorChannel)
-    : m_driveMotor(driveMotorChannel), m_turningMotor(turningMotorChannel) {
+                           const int turningMotorChannel,
+                           const int driveEncoderChannelA,
+                           const int driveEncoderChannelB,
+                           const int turningEncoderChannelA,
+                           const int turningEncoderChannelB)
+    : m_driveMotor(driveMotorChannel),
+      m_turningMotor(turningMotorChannel),
+      m_driveEncoder(driveEncoderChannelA, driveEncoderChannelB),
+      m_turningEncoder(turningEncoderChannelA, turningEncoderChannelB) {
   // Set the distance per pulse for the drive encoder. We can simply use the
   // distance traveled for one rotation of the wheel divided by the encoder
   // resolution.
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/Drivetrain.h b/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/Drivetrain.h
index 6a60b974b2..496ba7f39c 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/Drivetrain.h
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/Drivetrain.h
@@ -35,10 +35,10 @@ class Drivetrain {
   frc::Translation2d m_backLeftLocation{-0.381_m, +0.381_m};
   frc::Translation2d m_backRightLocation{-0.381_m, -0.381_m};
 
-  SwerveModule m_frontLeft{1, 2};
-  SwerveModule m_frontRight{2, 3};
-  SwerveModule m_backLeft{5, 6};
-  SwerveModule m_backRight{7, 8};
+  SwerveModule m_frontLeft{1, 2, 0, 1, 2, 3};
+  SwerveModule m_frontRight{2, 3, 4, 5, 6, 7};
+  SwerveModule m_backLeft{5, 6, 8, 9, 10, 11};
+  SwerveModule m_backRight{7, 8, 12, 13, 14, 15};
 
   frc::AnalogGyro m_gyro{0};
 
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/SwerveModule.h b/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/SwerveModule.h
index 3c3afa697a..6c6db533d1 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/SwerveModule.h
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/SwerveModule.h
@@ -18,7 +18,9 @@
 
 class SwerveModule {
  public:
-  SwerveModule(int driveMotorChannel, int turningMotorChannel);
+  SwerveModule(int driveMotorChannel, int turningMotorChannel,
+               int driveEncoderChannelA, int driveEncoderChannelB,
+               int turningEncoderChannelA, int turningEncoderChannelB);
   frc::SwerveModuleState GetState() const;
   void SetDesiredState(const frc::SwerveModuleState& state);
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/Drivetrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/Drivetrain.java
index acfff2112e..3575266217 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/Drivetrain.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/Drivetrain.java
@@ -20,10 +20,10 @@ public class Drivetrain {
   private final Translation2d m_backLeftLocation = new Translation2d(-0.381, 0.381);
   private final Translation2d m_backRightLocation = new Translation2d(-0.381, -0.381);
 
-  private final SwerveModule m_frontLeft = new SwerveModule(1, 2);
-  private final SwerveModule m_frontRight = new SwerveModule(3, 4);
-  private final SwerveModule m_backLeft = new SwerveModule(5, 6);
-  private final SwerveModule m_backRight = new SwerveModule(7, 8);
+  private final SwerveModule m_frontLeft = new SwerveModule(1, 2, 0, 1, 2, 3);
+  private final SwerveModule m_frontRight = new SwerveModule(3, 4, 4, 5, 6, 7);
+  private final SwerveModule m_backLeft = new SwerveModule(5, 6, 8, 9, 10, 11);
+  private final SwerveModule m_backRight = new SwerveModule(7, 8, 12, 13, 14, 15);
 
   private final AnalogGyro m_gyro = new AnalogGyro(0);
 
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 9fcf669d23..98c636fd2f 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
@@ -25,11 +25,13 @@ public class SwerveModule {
   private final MotorController m_driveMotor;
   private final MotorController m_turningMotor;
 
-  private final Encoder m_driveEncoder = new Encoder(0, 1);
-  private final Encoder m_turningEncoder = new Encoder(2, 3);
+  private final Encoder m_driveEncoder;
+  private final Encoder m_turningEncoder;
 
+  // Gains are for example purposes only - must be determined for your own robot!
   private final PIDController m_drivePIDController = new PIDController(1, 0, 0);
 
+  // Gains are for example purposes only - must be determined for your own robot!
   private final ProfiledPIDController m_turningPIDController =
       new ProfiledPIDController(
           1,
@@ -43,15 +45,28 @@ public class SwerveModule {
   private final SimpleMotorFeedforward m_turnFeedforward = new SimpleMotorFeedforward(1, 0.5);
 
   /**
-   * Constructs a SwerveModule.
+   * Constructs a SwerveModule with a drive motor, turning motor, drive encoder and turning encoder.
    *
-   * @param driveMotorChannel ID for the drive motor.
-   * @param turningMotorChannel ID for the turning motor.
+   * @param driveMotorChannel PWM output for the drive motor.
+   * @param turningMotorChannel PWM output for the turning motor.
+   * @param driveEncoderChannelA DIO input for the drive encoder channel A
+   * @param driveEncoderChannelB DIO input for the drive encoder channel B
+   * @param turningEncoderChannelA DIO input for the turning encoder channel A
+   * @param turningEncoderChannelB DIO input for the turning encoder channel B
    */
-  public SwerveModule(int driveMotorChannel, int turningMotorChannel) {
+  public SwerveModule(
+      int driveMotorChannel,
+      int turningMotorChannel,
+      int driveEncoderChannelA,
+      int driveEncoderChannelB,
+      int turningEncoderChannelA,
+      int turningEncoderChannelB) {
     m_driveMotor = new PWMSparkMax(driveMotorChannel);
     m_turningMotor = new PWMSparkMax(turningMotorChannel);
 
+    m_driveEncoder = new Encoder(driveEncoderChannelA, driveEncoderChannelB);
+    m_turningEncoder = new Encoder(turningEncoderChannelA, turningEncoderChannelB);
+
     // Set the distance per pulse for the drive encoder. We can simply use the
     // distance traveled for one rotation of the wheel divided by the encoder
     // resolution.