[kamocat]

I'll double-check.
I know that current is updated regardless of mode, but I'm pretty sure the speed and position were not.

EDIT:
I found some interesting results.
Speed and position are not initially reported in Voltage mode. However, after enabling that mode, and then going back, it appears to work.
I'll see if I can repeat this with my code.

EDIT2:
It works with my code just fine. The Driver Station doesn't even need to be connected. Note that "position reference" and "speed reference" are still both necessary. (I tried moving the wheel while speed referencing, but it didn't seem to make a difference; it still referenced 0 as stopped.)