[mbone206]

Thank you Ether and Team 358, Great White Paper

Follow up questions if I may:
*After reading white paper, having 'Wait Until next multiple' is the better wait VI for using camera/servo PID. Will there be penalties if use this Wait VI in all the periodic loops (vs standard wait VI), just sounds better to use all the time?
* Comment on wait time periodic task loop: I am not sure what is 'as small as necessary/large tolerate', how do I determine this?
question on 'need more priority': What I read or possibly interpreted it wrong, *comment on what what mean by priority: if I make one periodic loop 2mS. and one 10mS, this forces LabView to give more priority (CPU time) on 2Ms loop than 10mS, also may force more critical task at a lower priority (less CPU time allocated for more critical task, say Teleop??)
* Good explanation on teleop or periodic task.... now I believe I fully understand... I think... Based on this: I will move tank drive to teleop, using victors, controlled by joystick, since victors update 100hz and teleop running 50hz (may be longer than 20mS based on expanation of Windows timing), however, I will keep solenoid low gear code in periodic task, not sure how fast solenoid/sol. vi will update, or be fast enough for Teleop 20mS, < 50Hz (does that make sense?)
* Can you please give me you input on question, do not see errors running Robot wireless at school in diagnostic window, but get them at competition, how can this be evaluated before competition? Is Field communication system part of the problem and not so much the code in this case?

Thanx again
Mark