[cpapplefamily]

I think I'm going to run these parts in the execute method to see if there is a part that is taking too long

private double t_loopstart, t_loopend, t_getCX, t_getSpin, t_setSetpoint;

// Called repeatedly when this Command is scheduled to run
    protected void execute() {
    	t_loopstart = timeSinceInitialized(); // seconds since startup
    	double cX = Robot.vision.my_Get_Xcenter();
    	t_getCX = timeSinceInitialized(); // seconds since startup
    	double spin = Robot.vision.my_SpinToTarget_Lookup(cX);
    	t_getSpin = timeSinceInitialized(); // seconds since startup
    	m_setpoint = Robot.driveTrain.my_Get_Gyro() + (spin*-1);
    	t_setSetpoint = timeSinceInitialized(); // seconds since startup
    	//getPIDController().setSetpointRelative(spin*-1);
    	getPIDController().setSetpoint(m_setpoint);
    	t_loopend = timeSinceInitialized(); // seconds since startup

        SmartDashboard.putNumber("t_loopstart", t_loopstart);
    	SmartDashboard.putNumber("t_getCX", t_getCX);
    	SmartDashboard.putNumber("t_getSpin", t_getSpin);
    	SmartDashboard.putNumber("t_setSetpoint", t_setSetpoint);
    	SmartDashboard.putNumber("t_loopend", t_loopend);

}
Then plot on line graphs