Hi Erin
I'm not hugely experienced, but i can understand you feeling compelled to stay and try to get something from the class. Perhaps look at it as a chance to practice with your dog with other dogs around, and a chance for socialisation. When in the class, don't use food if that's what they require, but remember you will have the dogs for life, not the life of the class, so don't let the instructor bully you if you don't think it is working for YOUR dogs. If you find they respond better to rewards etc out of class, then that's YOUR call, not his/hers.
As with anything in life, try to approach open to the chance to learn something, and take only what is useful for you - seems to me they've already taught you something about dog training (and perhaps what you DON"T want!). Have the confidence that you've committed to these dogs for their lives, and you have to do what's right for them - even if you do receive some frowning disapproval from the instructor. You might even learn some stuff along the way that will be useful - and you might meet some doggy friends and organise "play dates" at other times to help socialise your little ones! Just my penny's worth....