[kyungjin]

Oh, and as the freezing cRIO...

It seems to happen when the cRIO is outputting messages to the console (Target Console). The way I see it, there is significant lag (about half a second) between values inputted into the cRIO (for example joystick values) versus values outputted from the console on your computer using printf commands. This leads me to believe that the cRIO freezes all operations trying to send values when the processor gets overloaded (because the values outputted are too slow to match the values inputted) on the cRIO and thus cannot send data as quickly to the DSU. In either case however, it works fine whenever the robot is set to run by itself (without the target console).

For us, the freezing still happens... It works for maybe 5 to 15 seconds at a time, more or less, but it's still a valuable source of data collecting and error correcting.