[Greg McKaskle]

I looked at your updated code, and still don't see anything that scary. Moving the code into subVIs helps readability, but won't affect performance.

So do you have CPU numbers? Do you have a log file? Do you have an elapsed time for TeleOp?

The only thing that looks like it may be excessive is the amount of stuff you have inside the 10ms periodic task. Doing NavX and CAN status and quite a few network tables may add a pretty hefty background load which would be present even during disabled mode. So if we see the logs, I can know roughly what that takes.

Greg McKaskle