[Greg McKaskle]

To get a better idea about what sort of twitch, let's break it down. Is it A we are talking about, or B?

A.) When sitting still, the motors twitch -- tighten the chain for a fraction of a second, then relax again.

B.) When driving at a constant speed, the motors stutter -- the robot slows or stops, or the robot has a twitch as if the motors dropped to zero or went in reverse for a fraction of a second.

As for the delay, is this wireless, wired, or both? Is the lag more than a second or less?

When the lag is present, try reboot just one of the elements to see if goes away. For instance, just stop and restart the driver station and see it goes away. Then reboot the entire driver station computer. Test it. Reboot the router, test. Reboot the cRIO, test.

One iteration through the test doesn't necessarily identify the issue, but it will often eliminate a good number of elements, and the next round of tests can get closer to finding a solution or workaround.

Additionally, flip to the Charts tab to see the round-trip time and lost packets and compare a laggy and nonlaggy chart to see if it correlates.

If you have code that seems to drive the cpu to 100%, post it or a picture of it and we can give suggestions.

Greg McKaskle