[RyanN]

@Alan - You need to install the NavX library to have his code load properly.

Looking at Teleop... Oh my...

There is a lot going on here. Forgive me if I miss something. Generally, when your code starts getting really complex, it's a good idea to start creating SubVIs. It makes the code a lot easier to understand.

I'm not seeing anything that stands out. The only Wait blocks you have are in Periodic Tasks, which is good.

Are you trying to run this as built code or by pressing Run on Robot Main? I've experienced slow downs when running Robot Main if I have too many running LabVIEW windows open. This occurs because it has to sync all the values from the robot back to the front panel, and the issue gets worse if your are probing values as well. I can see how having just the Teleop window open might cause it to lag since there are so many Front Panel controls and indicators to update.