No, the fact that we do not need to send continuously. For example, the sampling time should be hold by timer2, and when timer2 overflow, we send only 1 byte.
In my codes, I usually do some computation in PIC before send it out. I call it basic processing. For example, you would like to know the velocity, you can compute it with the given sampling time, and get the value of velocity in several of those 106us, and then send it out with only 1 byte result.
digital control always need sampling time, you cannot do it continously. Normally, the sampling time should be about 0.01s for motor control. And I see no problem with this aim.
Each 106us, we only have to write to buffer, and we have about 90 - 100 instruction to do other stuff. We wait for several of 106s (samplingtime) and do xmits.
I don't know clearly about TKS project, so I cannot determine if we can do this or not. But with upthere posts, I think we can.