[davidthefat]

private double[] getRPM()
    {
        double rpm[] = new double[2];                                               //Declares an array of integers which the function will return.
        currentTime = time.get();                                                   //Sets currentTime to the time calculatged from FPGA
        rpm[0] = leftEncoder.getRaw() * 16666666.666666 / currentTime;              //dAngle*(60000000us/360deg)/dTime = RPM
        rpm[1] = rightEncoder.getRaw() * 16666666.666666 / currentTime;             //dAngle*(60000000us/360deg)/dTime = RPM
        leftEncoder.reset();                                                        //Resets the left wheel encoder.
        rightEncoder.reset();                                                       //Resets the right wheel encoder.
        time.reset();                                                               //This resets the timer.
        return rpm;
    }