diff --git a/EncoderMod.h b/EncoderMod.h
index c473df0..7ebca4a 100755
--- a/EncoderMod.h
+++ b/EncoderMod.h
@@ -68,6 +68,7 @@ typedef struct {
     float rate;
     float rate1;
     float rate2;
+    bool lastRateTimer;
 } Encoder_internal_state_t;
 
 class Encoder
@@ -99,6 +100,7 @@ class Encoder
         encoder.rate = 0;
         encoder.rate1 = 0;
         encoder.rate2 = 0;
+        lastRateTimer = 0;
 		if (DIRECT_PIN_READ(encoder.pin1_register, encoder.pin1_bitmask)) s |= 1;
 		if (DIRECT_PIN_READ(encoder.pin2_register, encoder.pin2_bitmask)) s |= 2;
 		encoder.state = s;
@@ -131,12 +133,44 @@ class Encoder
         if (interrupts_in_use < 2) {
             noInterrupts();
             update(&encoder);
-        } else {
+        }
+        else {
             noInterrupts();
         }
-        float ret = encoder.rate;
+        float lastRate = encoder.rate;
+        float elapsedTime = encoder.stepTime;
         interrupts();
-        return ret;
+        float extrapolation = lastRate * elapsedTime;
+        if (extrapolation > 1) {
+            return (1 / elapsedTime);
+        }
+        else if (extrapolation < -1) {
+            return (-1 / elapsedTime);
+        }
+        else {
+            return (lastRate);
+        }
+    }
+    inline float extrapolate() {
+        if (interrupts_in_use < 2) {
+            noInterrupts();
+            update(&encoder);
+        }
+        else {
+            noInterrupts();
+        }
+        float lastRate = encoder.rate;
+        int32_t lastPosition = encoder.position;
+        float extrapolation = encoder.stepTime;
+        interrupts();
+        extrapolation *= lastRate;
+        if (extrapolation > 1) {
+            extrapolation = 1;
+        }
+        else if (extrapolation < -1) {
+            extrapolation = -1;
+        }
+        return (extrapolation + lastPosition);
     }
 #else
 	inline int32_t read() {
@@ -147,7 +181,17 @@ class Encoder
 		encoder.position = p;
 	}
     inline float stepRate() {
-        return encoder.rate;
+        return ((extrapolate() - encoder.position) / encoder.stepTime);
+    }
+    inline float extrapolate() {
+        float extrapolation = encoder.rate * encoder.stepTime;
+        if (extrapolation > 1) {
+            extrapolation = 1;
+        }
+        else if (extrapolation < -1) {
+            extrapolation = -1;
+        }
+        return (extrapolation + encoder.position);
     }
 #endif
 private:
@@ -302,9 +346,17 @@ class Encoder
 			case 1: case 7: case 8: case 14:
                 if (arg->position % 2 == 0) {
                     arg->rate1 = 0.5 / arg->stepTime;
+                    if (arg->lastRateTimer == 0) {
+                        arg->rate2 = 0;
+                    }
+                    arg->lastRateTimer = 0;
                 }
                 else {
                     arg->rate2 = 0.5 / arg->stepTime;
+                    if (arg->lastRateTimer == 1) {
+                        arg->rate1 = 0;
+                    }
+                    arg->lastRateTimer = 1;
                 }
                 arg->stepTime = 0;
                 arg->rate = (arg->rate1 + arg->rate2);
@@ -313,9 +365,17 @@ class Encoder
 			case 2: case 4: case 11: case 13:
                 if (arg->position % 2 != 0) {
                     arg->rate1 = -0.5 / arg->stepTime;
+                    if (arg->lastRateTimer == 0) {
+                        arg->rate2 = 0;
+                    }
+                    arg->lastRateTimer = 0;
                 }
                 else {
                     arg->rate2 = -0.5 / arg->stepTime;
+                    if (arg->lastRateTimer == 1) {
+                        arg->rate1 = 0;
+                    }
+                    arg->lastRateTimer = 1;
                 }
                 arg->stepTime = 0;
                 arg->rate = (arg->rate1 + arg->rate2);
diff --git a/keywords.txt b/keywords.txt
index fc03c99..dd08148 100644
--- a/keywords.txt
+++ b/keywords.txt
@@ -5,3 +5,4 @@ Encoder	KEYWORD1
 read KEYWORD2
 write KEYWORDD2
 stepRate KEYWORD2
+extrapolate KEYWORD2