[Danny Diaz]

If you're concerned the Begin.vi is causing you problems, the issue may not be "CPU processing" but it might be thread resources. LabVIEW creates 4 threads per execution system per CPU to do its work. The "default" execution system that everything uses is the "Standard" execution system - subVIs use the execution system of the caller since it's more efficient. However, if you've got a lot of things cranking up at the same time your code might be fighting over those 4 execution system threads. You can try to put your code within a different execution system, which would provide "dedicated" threads for your "parallel execution" code. Maybe set your entire Autonomous VI in another execution system?

I don't have the FRC libraries / Default code in front of me, but maybe this is something worth considering. You can change the execution system in the VI properties under the "Execution" drop-down.

-Danny