[Tom Line]

With regards to the camera call, you can either not open it in begin or plug your camera in so it runs. It's timing out because it expects the camera to talk on the ethernet port and it isn't.

With regards to the other problems (loop running slow) we nailed this one tonight after a lot of work. What clued us in to our errors was that it was still happening even when the robot is disabled. We checked the VI's that were running in disabled and found references to things that we had removed from begin. We also found a duplicated reference in begin. After fixing those our 'loop too slow' disappeared.