[TheBigCheese]

Tethering seems to help a little, though it's not obviously better. I timed the code. An entire loop of TeleOp periodic only takes about 32ms, so I think that's fine.

Another problem that has been cropping up is that when braking hard or putting load on the motors, the jaguars turn a solid red and the robot stops moving. The connection is fine, and we can ping to robot, but it doesn't move.

We're using a CAN-based system, so that may be part of the problem, though I'm not sure.