When we use the GetRate() wpilib encoder method, the rate works except that we get an “inf” value when the encoders are still. The SetMinRate() or SetMaxPeriod() methods should force the output to zero the way I understand it. We tried both but still get the “inf” with the printout.
We use C++ and use this in the constructor:
encoder->SetMinRate(1.); //to set min rate to 1 in per second