[Greg McKaskle]

It looks like you have lots of things hooked up and working. I don't see any timing in your BIG loop with all of your dig I/O stuff. That of course means it runs all out in parallel with everything else. If you can determine a time for it to run based on response, that will likely help with the responsiveness of the other loops.

My guess is that you can put a Wait of 20ms, similar to the camera loop. If that seems too slow, lower the number.

Greg McKaskle