CANTalon position and speed only returns 0

We have hooked up CIMcoders to our drive motors and are attempting to use them with CANTalon speed control. We have added a method so that we can feed the motors a feet per second value and have it convert to a motor rpm setpoint.

This is where it gets weird. We have been driving like this fine for weeks, speeding up and slowing down at will. However, when we tried to print the value of CANTalon.getSpeed(), it only returns 0, even though we are somehow still driving. In the Talon’s self-test, it is listed as being in velocity control mode and having a quadrature encoder as the feedback device, but it shows 0 for the encoder speed and position. After looking in the software manual, we are still stuck.

Any ideas?