[MrRoboSteve]

Have you determined what sort of noise you're dealing with?

For switches, there are a couple sources of noise:

. bounce on the switch. This varies widely depending on the type of switch you are using. Our experience has been that the KOP Honeywell snap action limit switches have very little bounce, proven both by looking at them on the scope and observed in the robot.

. noise on the line. Our robot had troubles with this, due to long two wire runs. You can fix it a couple ways: 1) convert to 3 wire runs; 2) use shielded cable; 3) build an external pull-up with a lower valued resistor (we use 1000 ohm). We did #2 and #3 this year.

For encoders, so far we haven't bothered averaging the counts as they haven't seemed to have an impact.