[Jared Russell]

The Victor updates at 120Hz. Worst case performance (assuming you have to wait the entire 26.2 ms to send the command to the master uP and you have to wait 8.3 ms for the Victor update) should be about 34.5 ms.

Note that the status lights and the movement of the motor are NOT good ways to confirm this. The status lights have some buffering in them, and motors take awhile to spin up or down (especially with gearing or loads attached). If you measure the lag between motor command setting and sensor output, then you are taking into account:

1. User to master uP communication
2. Actual Victor lag
3. Motor lag
4. Sensor lag

Try hooking the outputs of the Victor to an oscilloscope to verify. You can pulse a square wave on the Victor (i.e. output 127, 254, 127 at a certain frequency) while also pulsing a digital output pin. Look at both outputs to find the actual values for #1 and #2 above.