[Tom Line]

There was a very lengthy discussion about jitter, sampling, and RPM calculation in 2012. To make a long discussion short, if you are using the period function in LabVIEW, you may actually be better off with a 1 count per rotation encoder to maximize the period and make your RPM calculation more accurate. We used it very successfully in 2012, and 2013. This will also eliminate any worries you may have about loading the roborio.

This is somewhat counter-intuitive if you are thinking about calculating RPM using "number of ticks" divided by time.