revert to non-task-driven, no tangible difference in performance. May change back later.

include/encoder.hpp

@@ -4,12 +4,6 @@
 #include <atomic>
 #include "esp_timer.h"
 
-// Encoder event structure for queue
-typedef struct {
-    int32_t count;
-    bool is_top_encoder;
-} encoder_event_t;
-
 class Encoder {
 public:
   // Shared between ISR and main code