[JesseK]

I perused the code over lunch and noticed something that confused me. In your ports file you've assigned both the "B" port of an encoder and a limit switch to digital I/O 10. In order to facilitate this, was there a specific order the wires had to go into the DIN for I/O 10?

We rely heavily on limit switches to act as redundant safeties during programming as well as sensor failures, so being able to pair limit switches with encoders in this manner could save us from having to make I/O port tradeoffs.