[Greg McKaskle]

The decoding of the encoder pulses and the accumulation of the gyro are done in the FPGA. They are hard-real-time and take no CPU. The remaining work, scaling the values and putting them into the WPILib format, is trivial.

My suggestion would be to hook all of the sensors up on a test bench and measure it. I think you'll find that you have nothing to worry about and you do not need to complicate things by throwing other dedicated processors on the robot.

If you have questions, or more detailed concerns about meeting timing on some sensor, please post the details.

Greg McKaskle