Getting Motor to update faster

[CSkillet]

So I'm having trouble getting values from a motor at a fast pace. I have a Talon hooked up to a motor which is hooked to an Encoder with the idea that I can eventually do PID. Basically I have a program where I log the encoder Velocity along with time. The time updates pretty fast, about every .01 seconds, but the encoder velocity updates every .1 seconds, so the encoder velocity value is the same for ten iterations of time. I have been experimenting with setExpiration() and SetSafetyEnabled() and none of that has worked. I changed the expiration time to .01 figuring that the motor would update every .01 seconds but that didn't work. I was wondering if I had to use EnableControl(). Any Ideas?