An analog to digital converter including a digital to analog converter (DAC), a comparator, and a controller. The DAC includes a sample node and a capacitor array controlled by a digital control input. The comparator compares a voltage of the sample node with a reference voltage to generate a comparison value. The controller presets the digital control input, prompts the DAC to sample the input voltage onto the sample node, resets the digital control input, and performs a conversion by successively adjusting the digital control input based on the comparison value to determine a digital output. A preset value is subtracted from the digital output to provide an adjusted digital output. A sample predictor predicts the next sample to determine the preset value used to adjust the sample node within a full scale range after DAC reset.