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Re: Loop timing crio vs. roborio.
The 50 ms data on the cRIO and the roboRIO don't seem significantly different. I'm leaning toward the theory that it's the faster rate that is giving you the unwanted variation in logged times.
Have you measured how long the 20 ms loop is actually taking? Exceeding the expected loop time will give "interesting" results when using a metronome.
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