[Greg McKaskle]

Maybe I don't understand the results being posted, but ideally the rates of each task would be limited to a known rate rather than running all out.

As an example, since motors updates for victors have a 10ms window, it really doesn't make sense to update them faster, I believe servos are 20ms, and jags are 5ms. The camera task can be limited to whatever you want, but doesn't need to be less than 33ms per frame.

If you do this for even some of the tasks, it seems like the variability will go way down. Having three tasks all expecting to run as fast as possible just seems to be asking the magic eight ball of OS scheduling for way too much.

Greg McKaskle