[cstelter]

Try seeing what functions you can call on the CANJaguar class.

setSpeedMode() is promising.

getPosition() looks like it can tell you the distance on the encoder.

I'm not seeing one immediately that can tell you the rate reported by the encoder though.

There are commands to set up a PID and enable it though in either position mode or rate mode.

Bottom line is that all access to the encoder is through the CANJaguar object and you can't instantiate an Encoder. At least that's how I understand it. We used this mode 3 years ago so my memory is fuzzy.