This is a bare-bones version of the writing a single line to the Debug Stream window:
Note that the %d parameter allows you to write a number directly (in this case, the value of an encoder) to the Debug stream but it is 'contained' at the location in the string that you would like for it to appear. The 10ms wait command is used to allow time for the Debug Stream window to refresh and update the information. You will want to put this in a control structure (such as a loop) if you would like to print more than one reading to the Debug Stream.
You can find more information on the Debug Stream here: http://www.robotc.net/wiki/Debug_Stream
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