100% CPU Utilization Using 10ms Periodic Task

[Phalanx]

We've got a winch and pulley that pulls down our spring loaded launcher, and there's a limit switch to let us know when it's fully tensioned so we can turn off the motor and lock it in place.

The winch is really fast, it takes less than 1 second to reload. So I wanted something really fast to make sure we turn off the motor quickly to avoid breaking anything.

In a worst case scenario, I can slow it down and monitor it all in Teleop. I just didn't want to do that. The global variables are later sent in Teleop to the dashboard via network tables as indicators of it's readiness, although we may move that code to the 100ms loop.