[ayeckley]

To clarify, we haven't switched to the interrupt approach yet. That's just the eventual plan once we work through some higher-priority problems not related to the driver station. For now we've got our encoder working well enough to compete with if we really had to. We can share the source code but I have to travel for work so it might be a couple of days before I can post it. The students are generally reluctant to post on C-D.

Also, I see now that I was mistaken about the 10ms polling rate. The ADC conversions are done every 10ms, but there doesn't appear to be anything super-obvious that is throttling the polling loop (other than the time required to execute the ADC ISR). Shutting down that interrupt didn't improve the polled performance, which was a little counter-intuitive.