did you use position ref or speed ref? Position ref is for position mode and speed ref is for speed mode.
We used the encoders that where in the KOP the other year, I think they are the same ones. With this code It said that it was about 450 rpm. I used just regular kEncoder and that seemed to work fine.
we did some testing and we got ours to work with the getSpeed() here is that part of our code that we used.
Code:
double DriveP = 1; //PID is not tuned
double DriveI = 0.1;
double DriveD = 0;
int EncoderRev = 360;
public void robotInit() {
Left1 = new CANJaguar(2);
Left1.changeControlMode(CANJaguar.ControlMode.kSpeed);
Left1.setPID(DriveP, DriveI, DriveD);
Left1.configEncoderCodesPerRev(EncoderRev);
Left1.setSpeedReference(CANJaguar.SpeedReference.kEncoder);
Left1.enableControl();
}