diff --git a/src/main/java/com/team766/hal/wpilib/REVThroughBoreDutyCycleEncoder.java b/src/main/java/com/team766/hal/wpilib/REVThroughBoreDutyCycleEncoder.java
index 06b5bf375..890d3a5a0 100644
--- a/src/main/java/com/team766/hal/wpilib/REVThroughBoreDutyCycleEncoder.java
+++ b/src/main/java/com/team766/hal/wpilib/REVThroughBoreDutyCycleEncoder.java
@@ -8,6 +8,7 @@ public class REVThroughBoreDutyCycleEncoder extends DutyCycleEncoder implements
     public REVThroughBoreDutyCycleEncoder(int channel) {
         super(channel);
         setDutyCycleRange(1. / 1025., 1024. / 1025.);
+        setConnectedFrequencyThreshold(975 /* 975.6 on spec sheet */);
     }
 
     @Override
diff --git a/src/main/java/com/team766/robot/reva/mechanisms/Shoulder.java b/src/main/java/com/team766/robot/reva/mechanisms/Shoulder.java
index 84a92ffa0..a28b3831b 100644
--- a/src/main/java/com/team766/robot/reva/mechanisms/Shoulder.java
+++ b/src/main/java/com/team766/robot/reva/mechanisms/Shoulder.java
@@ -38,10 +38,9 @@ public double getAngle() {
 
     private double targetAngle;
     private static final double NUDGE_AMOUNT = 1; // degrees
-    private static final double ENCODER_INITIALIZATION_LOOPS = 350;
 
     private final REVThroughBoreDutyCycleEncoder absoluteEncoder;
-    private int encoderInitializationCount = 0;
+    private boolean encoderInitialized = false;
     private static final double SUPPLY_CURRENT_LIMIT = 30.0; // max efficiency from spec sheet
     private static final double STATOR_CURRENT_LIMIT = 80.0; // TUNE THIS!
 
@@ -138,21 +137,21 @@ public boolean isFinished() {
     public void run() {
         // encoder takes some time to settle.
         // this threshold was determined very scientifically around 3:20am.
-        if (encoderInitializationCount < ENCODER_INITIALIZATION_LOOPS
-                && absoluteEncoder.isConnected()) {
+        if (encoderInitialized && absoluteEncoder.isConnected()) {
             double absPos = absoluteEncoder.getPosition();
             double convertedPos = absoluteEncoderToMotorRotations(absPos);
-            // TODO: only set the sensor position after this has settled?
-            // can try in the next round of testing.
             leftMotor.setSensorPosition(convertedPos);
-            encoderInitializationCount++;
+            encoderInitialized = true;
         }
+
         SmartDashboard.putNumber("[SHOULDER] Angle", getAngle());
         SmartDashboard.putNumber("[SHOULDER] Target Angle", targetAngle);
         SmartDashboard.putNumber("[SHOULDER] Rotations", getRotations());
         SmartDashboard.putNumber("[SHOULDER] Target Rotations", targetRotations);
         SmartDashboard.putNumber(
                 "[SHOULDER] Absolute Encoder Position", getAbsoluteEncoderPosition());
+        SmartDashboard.putNumber(
+                "[SHOULDER] Absolute Encoder Frequency", absoluteEncoder.getFrequency());
         SmartDashboard.putNumber(
                 "[SHOULDER] Left Motor Supply Current", MotorUtil.getCurrentUsage(leftMotor));
         SmartDashboard.putNumber(