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This suggests you are performing a download/reboot/test cycle. You do not have to cycle in this manner. As long as your primary FRC_RobotTask and any other tasks you may spawn are deletable, you can configure WindRiver Run to download you modifications and launch immediately. We have our compile/download/test cycle down to about 7 seconds on a Core 2 Duo laptop (longer for the more ancient beasts). If FRC_RobotTask pre-exists, then your code will display a console message saying so and fail to spawn the new modified program.

What we do is assign a key on our joystick that when pressed, stops all sub-tasks, delete's them and free's any other wandering (but relevant) resources finally performing an exit(0);. This completely washes out all essence of the previous program. This takes less than a second to perform. We are saving and changing our modifications on the laptop then have configured the 'Run As' entry to download and launch the code. On actioning the 'Run' icon on the toolbar, the code is downloaded and executed. About 7 seconds all-in, though the number of source compilations will extend the number.

Hope this helps!

Tony,
1711 Raptors