[Greg McKaskle]

The CPU and elapsed time of teleOp are hard numerical quantities that will help you diagnose if you have a problem, and what that problem likely is. It is like the doctor taking your temperature and blood pressure. If you don't measure these things, you may very well be trying to fix something that isn't broken or making something worse.

I glanced at your code and didn't see anything horrible. The next step is to measure. Without that, we quickly get into code poetry and opinions. I much prefer to stay on the engineering side of programming. So, please, when you have access to the log files or the robot, post the CPU usage for a couple robot modes. Look at or post some log files. And if you think you have an issue with teleOp, add the Elapsed times VI, run the code, start teleOp on the DS, and open the subVI to see what the elapsed time is.

Greg McKaskle