[Kevin Sevcik]

Matt,

Kevin already has most of his code disabled with #ifdef's. It's just trickier to get rid of all the if-elses that way, and you have to make sure you don't accidentally enable those interrupts elsewhere and...

Sometimes it's easier to just decide what you need from the beginning, and really mean it, rather than to have snippets of possibly, maybe useful commented-out code everywhere in your program that do nothing but get in the way and confuse the syntax highlighter. I always advise the programming team to get rid of the vast majority of the default code and its default port mappings, if only to prevent odd things from happening when a PWM cable is plugged in the wrong place.

I'm sure keeping code makes sense when you're first developing your program, but you really should be able to pare things down to what you're actually using for competition code. Unless of course your game plan is to integrate 2 wheel encoders for navigation into your robot on practice day.