[Alan Anderson]

Whoa, that's a lot of stuff going on in Teleop. I don't see any reason for it to hang, though.

I notice that Robot Main has been modified. That's often a recipe for unexpected weirdness, but it doesn't seem to have anything in it that'll break things. I do wonder why you didn't just put that vision-receiving code in the Periodic Tasks vi, instead of doing clever background startup and shutdown processing.