[jesusrambo]

First off, I'd recommend putting your camera image acquisition code either in its own subsystem, or in your teleopPeriodic in your main robot class.

The error you're getting trips when the jaguars aren't getting their motor speed values updated often enough from the code, and from looking at this I'd bet you guys aren't actually calling the methods to update the jaguar values in your robot code anywhere.

EDIT: I think violinuxer is right, I think your image acquisition is causing the code to hang for a little while as it's capturing the image, and that delay is causing the error.