[jcarr]

If you send a copy of your RobotC teleop code, I can take a look through it for any red flags that might be responsible for some lag.

I have been to over 40 events with Samantha and the single-thread code is used at most of them. There are only a few teams that use multi-threaded code, usually for background tasks like monitoring for magnetic batons. The lagging tends to be specific to the location, FCS, and router, not the code. There are some exceptions that can creep into the code (rogue wait statements). A sure way to introduce lag is to connect via bluetooth and not fully disconnect before connecting to the FCS (I prefer my team to disable bluetooth, then power cycle the NXT and Samantha). We also tell the teams to turn off the robot after each match. Last year, we saw lagging issues if you went to multiple matches without power-cycling. Last year we also saw issues if teams had logos for the FCS to display. It took too much bandwidth uploading them.

Hope those suggestions help.