[Todd]

In general you can start running into trouble trying to send lots of CAN commands in your teleop loop. We offload our CAN messages into other processing loops and run them with lesser periodicity. Many motors shouldn't really need to have their speed changed more rapidly than 10-20 hz, and if you had a motor that you wanted to control the speed of more frequently than that, you could have that motor alone operate faster.

You didn't actually say whether or not you're actually doing something like this already, but in case you're not.

The same basic issue is relevant and correctable regardless of what programming language you're using.