[Greg McKaskle]

If you flip to the rightmost tab on the DS called Charts, it contains a chart of various robot things. One is the voltage of the robot battery, one is CPU usage, and the two top ones are the communication round trip time in milliseconds and the lost packets. If spikes there correspond to the choppiness, the issues is either with the wifi environment (too many competing networks on the same channel(s)), a badly mounted radio (too far into the robot, too close to motors), or if it is latency and not dropped packets, it may be due to load of the DS computer or cRIO.

Greg McKaskle