[apples000]

When using threads/parallel processing in Java, it is easier to goof up than in LabView. Our robot has ~20 threads running, 5 PID loops, and vision, and it never goes over 85%. If you post your code, we can help you with it. One of the biggest problems is that sending errors to the DS can waste huge amounts of CPU usage, so you should check the diagnostics tab of the DS. I've actually found that Java is really efficient, and the difference between C++, LV, and Java(in terms of performance/speed) aren't noticeable to FRC teams.