[Alan Anderson]

It's very likely that the 20 ms sampling of Chris's receiving UDP socket was at the root of the problem. If the Driver Station's 20 millisecond UDP send was running just slightly faster than the one on the cRIO -- which it almost certainly would be if the cRIO code were being run in debug mode -- then packets would start to stack up. Since the cRIO was only retrieving one packet each 20 milliseconds, it could never catch up once it got behind. If the UDP receive function itself were used to control the loop rate, with a few seconds (or more) timeout, it wouldn't fall behind the way the original code can.