[iyermihir]

I would recommend looking at the cpu usage on the cRIO. It is displayed in the charts section of the driver station. We had a problem where our usage was at 100% and the robot would not respond immediately. We fixed the problem by adding a 1ms sleep in both our main and vision loops. I am not sure if this is the cause of your problem, but its worth a look. By the way, we use Java.