Shuffleboard can do far more than displaying camera feed. Review it here:
https://wpilib.screenstepslive.com/s/currentCS/m/shuffleboard/l/814689-tour-of-shuffleboard

1. Create a new project in VSCode
2. Create the basic encoder code in:
http://wiki.team2537.com/wiki/ControlSystems/SoftwareTeam/Training/GettingStarted/Encoders
3. Add the following to teleopPeriodic():
{{{
SmartDashboard.putNumber("Encoder value", m_Left.getSelectedSensorPosition());
}}}
4. Connect to a robot and deploy your code
5. Now open Shuffleboard to view your entered data.
6. Feel free to explore the design using this:
https://wpilib.screenstepslive.com/s/currentCS/m/shuffleboard/l/821652-displaying-data-from-your-robot