diff --git a/aos/crio/motor_server/CRIOControlLoopRunner.cpp b/aos/crio/motor_server/CRIOControlLoopRunner.cpp
index 9d6cd52..1971dc1 100644
--- a/aos/crio/motor_server/CRIOControlLoopRunner.cpp
+++ b/aos/crio/motor_server/CRIOControlLoopRunner.cpp
@@ -3,6 +3,7 @@
 #include "aos/aos_core.h"
 #include "aos/crio/shared_libs/interrupt_bridge.h"
 #include "aos/crio/motor_server/MotorOutput.h"
+#include "aos/crio/motor_server/MotorServer.h"
 
 using ::aos::control_loops::SerializableControlLoop;
 
diff --git a/aos/crio/shared_libs/interrupt_bridge-tmpl.h b/aos/crio/shared_libs/interrupt_bridge-tmpl.h
index 3adba38..cc00ab8 100644
--- a/aos/crio/shared_libs/interrupt_bridge-tmpl.h
+++ b/aos/crio/shared_libs/interrupt_bridge-tmpl.h
@@ -4,8 +4,7 @@
 
 #include "WPILib/Task.h"
 
-#include "aos/aos_core.h"
-#include "aos/crio/motor_server/MotorServer.h"
+#include "aos/common/logging/logging.h"
 #include "aos/common/time.h"
 
 extern "C" {
@@ -208,7 +207,6 @@
 //   cmpwi
 //   bne
 //   li
-// NOTE: This macro is used in interrupt_notifier-tmpl.h too.
 #define ASM_COMMENT(str) __asm__("# " str)
 template<typename T>
 void WDInterruptNotifier<T>::StaticNotify(void *self_in) {
diff --git a/aos/crio/shared_libs/interrupt_notifier-tmpl.h b/aos/crio/shared_libs/interrupt_notifier-tmpl.h
index 78e7ca8..819e552 100644
--- a/aos/crio/shared_libs/interrupt_notifier-tmpl.h
+++ b/aos/crio/shared_libs/interrupt_notifier-tmpl.h
@@ -6,9 +6,9 @@
 
 template<typename T>
 InterruptNotifier<T>::InterruptNotifier(
-    typename InterruptBridge<T>::Handler handler,
-    InterruptableSensorBase *sensor, T *param, int priority)
-    : InterruptBridge<T>(handler, param, priority), sensor_(sensor) {
+    Handler handler,
+    InterruptableSensorBase *sensor, T *param)
+    : handler_(handler), param_(param), sensor_(sensor) {
   sensor_->RequestInterrupts(StaticNotify, this);
 }
 
@@ -19,7 +19,6 @@
 
 template<typename T>
 void InterruptNotifier<T>::Start() {
-  this->StartTask();
   sensor_->EnableInterrupts();
 }
 
@@ -28,20 +27,17 @@
   sensor_->DisableInterrupts();
 }
 
-// WARNING: This IS called from an ISR. Don't use floating point. Look in
-// interrupt_bridge-tmpl.h for details.
 template<typename T>
 void InterruptNotifier<T>::StaticNotify(uint32_t, void *self_in) {
-  ASM_COMMENT("beginning of InterruptNotifier::StaticNotify");
-  if (!intContext()) {  // if we're not in an actual ISR
-    logMsg(const_cast<char *>("WPILib is not calling callbacks"
-                              " in actual ISRs any more!!\n"),
+  if (intContext()) {  // if we are in an actual ISR
+    logMsg(const_cast<char *>("WPILib is calling callbacks"
+                              " in actual ISRs now!!\n"),
            0, 0, 0, 0, 0, 0);
+    return;
   }
   InterruptNotifier<T> *const self =
       static_cast<InterruptNotifier<T> *>(self_in);
-  self->Notify();
-  ASM_COMMENT("end of InterruptNotifier::StaticNotify");
+  self->handler_(self->param_);
 }
 
 }  // namespace crio
diff --git a/aos/crio/shared_libs/interrupt_notifier.h b/aos/crio/shared_libs/interrupt_notifier.h
index 87aa4a3..8334f86 100644
--- a/aos/crio/shared_libs/interrupt_notifier.h
+++ b/aos/crio/shared_libs/interrupt_notifier.h
@@ -3,16 +3,18 @@
 
 #include "WPILib/InterruptableSensorBase.h"
 
-#include "aos/crio/shared_libs/interrupt_bridge.h"
-
 namespace aos {
 namespace crio {
 
 // An InterruptBridge that notifies based on interrupts from a WPILib
 // InterruptableSensorBase object (which DigitalInput is an example of).
+// Not actually a subclass because WPILib appears to not really use actual
+// interrupts.
 template<typename T>
-class InterruptNotifier : public InterruptBridge<T> {
+class InterruptNotifier {
  public:
+  typedef void (*Handler)(T *param);
+
   // This object will hold a reference to sensor, but will not free it. This
   // object will take ownership of everything related to interrupts for sensor
   // (ie this constructor will call sensor->RequestInterrupts).
@@ -20,10 +22,9 @@
   // constructed in) when this constructor is called.
   // Any setup of sensor that is required should happen before Start() is
   // called, but after this constructor (ie SetUpSourceEdge).
-  InterruptNotifier(typename InterruptBridge<T>::Handler handler,
+  InterruptNotifier(Handler handler,
                     InterruptableSensorBase *sensor,
-                    T *param = NULL,
-                    int priority = InterruptBridge<T>::kDefaultPriority);
+                    T *param = NULL);
   virtual ~InterruptNotifier();
 
   // Starts calling the handler whenever the interrupt triggers.
@@ -31,12 +32,15 @@
 
  private:
   // The only docs that seem to exist on the first arg is that it's named
-  // interruptAssertedMask in WPILib/ChipObject/tInterruptManager.h
+  // interruptAssertedMask in WPILib/ChipObject/tInterruptManager.h.
   // The second arg is the general callback parameter which will be a pointer to
   // an instance. This function calls Notify() on that instance.
   static void StaticNotify(uint32_t, void *self_in);
   virtual void StopNotifications();
 
+  const Handler handler_;
+  T *const param_;
+
   InterruptableSensorBase *const sensor_;
   DISALLOW_COPY_AND_ASSIGN(InterruptNotifier<T>);
 };