[114Klutz]

Debugging - keep in mind, there is no port for a debugger on the FRC controller - and printf is a poor substitute for a debugger. Even if you intend to write code for the RC only, it's a good idea to test such code on the circuit board first, so it can be debugged there, and then utilized on the RC later.

The second thing is to offload processor intensive tasks such as keeping track of the encoder count to another processor. While generally, encoders shouldn't make a significant difference, if you use high pulse per revolution encoders and a very fast wheel, you can easily end up with the red light of death.