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Re: FCS issue
Several teams had lagging controls in last year's competition, particularly when connected to the field (and not seen when they were tethered or using only the Dlink). Sounds like your problem.
In some cases, the camera was overloading the communications channel on the field. Try disconnecting your camera to see what happens.
In other cases, the cRio was hitting 100% utilization. This is a problem with your code. There is a way (but I don't know it) to check the CPU utilization of the cRio. Find out how and do that.
Moscow? I did not know FRC was active there.
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