Encoder trouble

[flameout]

Here's the code, it is attached.

We have the kit chassis, with the kit encoders mounted to the output shaft of the Toughboxes. There is a 15 to 22 reduction beyond that to the 8" kit wheels.

Here is the wiring:
Browns: (-)
Oranges: power
yellows: 5 and 8
Blues: 4 and 7

I believe our programming/electronics mentor added in some of the display code for debugging.

The distance is increasing or decreasing at a seemingly constant rate (I may/may not be able to run some checks or watch it closer.) This rate is very high, on the order of 200 ft/sec.

Thank you for your help, I hope this gets resolved.