[PhilBot]

It doesn't sound like you are using the teleop template from this year.

The standard template does all the things that you say you coded.

The Template also shuts down all motors and servos when the robot is disabled, or loses coms.

I haven't been able to test whether the E-STOP sends a disable before shutting down the program... I will do that tomorrow, but without your code listing it's impossible to pinpoint a specific problem.

My question regarding the delay is: Does the delay occur all the time, or just when shutting down.

As for the tank drive... unless you have a specific reason for NOT using the one that's built in, it's probably a good staring point.

Sounds like you code is doing several tasks, any of which could be causing a problem. I can speculate about lots of different causes, but you probably don't want a generic answer. Attach the VI to your next post.