[abigailthefox]

Are any of your functions running in a separate thread? If you have many threads running at once, or threads running quickly, you can get CPU problems. We had a CPU problem at our last competition that was solved by removing a thread that no longer had any code running within it, so it was running over and over again within the main operator control loop, moving very quickly and using lots of CPU, but without carrying out any useful robot function.