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In the official protocol specification, it says:

17 - Get Motor 1 Speed (RPM)
18 - Get Motor 2 Speed (RPM)
19 - Get Motor 1 Speed (PWM)
20 - Get Motor 2 Speed (RPM)

(note Motor 2 RPM appears twice, and there is no Motor 2 PWM)

In anguino3GDriver.java it says:

                GET_MOTOR_1_RPM(17),
                GET_MOTOR_2_RPM(18),
                GET_MOTOR_1_PWM(19),
                GET_MOTOR_2_PWM(20),

(I assume this is the correct version)

In firmware version 1.4 and earlier (both master & slave) it says:

#define SLAVE_CMD_GET_MOTOR_1_PWM       17
#define SLAVE_CMD_GET_MOTOR_2_PWM       18
#define SLAVE_CMD_GET_MOTOR_1_RPM       19
#define SLAVE_CMD_GET_MOTOR_2_RPM       20

(note PWM and RPM are swapped compared to the java source)