Interrupts per second

[artdutra04]

If you are worried about processor overload from using too many interrupts in your program, you can also gear the encoders slower so you'll have less pulses per second. You'll start losing accuracy, but if you gear them slower by a 3:1 reduction you'll still have 33.3 pulses per revolution.

On a six inch wheel, that's an accuracy of about 0.56 inches per pulse. This should be more than sufficient for drive train applications, since that's within the tolerances of a FIRST playing field.