I've been writing firmware to run a DC motor controller where this efficiency/elegance tradeoff is very apparent. I can write "slower" code in a very elegant wa

I've been writing firmware to run a DC motor controller where this efficiency/elegance tradeoff is very apparent. I can write "slower" code in a very elegant way, such as reading the throttle input. But when it comes to implementing the high-frequency control loop with all its ADC readings and filtering, I have to trade much of my elegance for raw efficiency.