OK to start Encoder in Begin?

[Joe Ross]

That's what we do.

[Phalanx]

Absolutely, We do that as well.

Start them in BEGIN.VI, and typically do a RESET as one of the first items in Autonomous just to be sure we have a good zero point.

We also stop our drive wheel encoders during Teleop[init] as we typically don't use them during teleop. Why waste the processing cycles and time.