[Mk.32]

Hi all,

We've heard that the WIPlib Encoder method getRate() is inconsistent, so we're trying to write out our own (better) without any success. Any suggestions?

Code:

private static double currGet = 0.0;

public static double getRate() {
double prevGet = currGet;
currGet = shooterEncoder.get();
int scalar = 50;
double rateDegreePerSec = Math.abs(currGet-prevGet)*scalar;

double rpm = rateDegreePerSec/6.0;
System.out.println("Rate: " + rpm);

return rpm;
}