[blturner]

Aeastet, Thanks for spending time on the code. I don't know what an Action Engine is. Looking forward to seeing what you mean.

Greg, "calling CAN nodes inside the loop when they only need to be set once"
This sounds like a mistake I could be making. I will google it.

Default code 15 to 25% That means that yes I have a problem I need to fix.

We are not doing vision in the RoboRIO. We are doing it in roborealm on a tablet on the robot. What you see is just the processing of the X and Y Roborealm found into commands to turn and fire.

I figured that global variables would be fast. We are using a lot of them this year. I don't know what a windows call to set priority means. More to google.

The WPI method of calling a subVI always seemed like more work than global variables. And we had a problem last year where we could not call the same subVI at the same time and get reliable results. We had to tie the errors from one to the next so they would not run in parallel. But I suspect that is all just minor compared to our problem. Our code just is not that complex.

I will check the arm up down in two places I thought I put the first one in a false case when the second one was running.(autofire is true)