@Override
 public TalonSRX setStatusFrameRate(StatusFrameRate frameRate, int periodMillis) {
   talon.setStatusFrameRateMs(
       edu.wpi.first.wpilibj.CANTalon.StatusFrameRate.valueOf(frameRate.value()), periodMillis);
   double periodInSeconds = periodMillis / 1000.0;
   switch (frameRate) {
     case FEEDBACK:
       feedbackRateInSeconds = periodInSeconds;
       break;
     case QUADRATURE_ENCODER:
       quadratureRateInSeconds = periodInSeconds;
       break;
     case ANALOG_TEMPERATURE_BATTERY_VOLTAGE:
       analogRateInSeconds = periodInSeconds;
       break;
     case GENERAL:
       // nothing to set, since our code doesn't use the "general" frames
       break;
   }
   return this;
 }