[Mk.32]

Here is a quick re-write I did, using all the above comments. Encoder is set to 1x.

Wouldn't get to test till next Wednesday. But comments are welcome.

    public static void shooterEncoderStart() {
        shooterEncoder.start();
        shooterEncoder.setDistancePerPulse(1.0 / 360.0);
    }
    
    public static void shooterEncoderReset() {
        shooterEncoder.reset();
    }
    
    public static double getRate() {
        double get1 = shooterEncoder.get();
            double time = Timer.getFPGATimestamp();
        double get2 = shooterEncoder.get();
            time -= Timer.getFPGATimestamp();
        double rateDegreePerSec = Math.abs(get2-get1)/Math.abs(time);
        return rateDegreePerSec/6.0; //RPM
    }