[lscime]

The fluctuation between watchdog and telop enabled will certainly cause lag. After briefly looking at your code I don't see anything that is likely to cause a watchdog error. Although it appears that you have forgotten to close all of your devices (ie motors) in the "finish.vi." This may cause issues.

The best way to debug this kind of issue is to go back a couple of steps. For instance, did you start noticing the lag after writing a particular piece of code?

PS - the cRIO is incredibly powerful, it is highly unlikely you are taxing its processor (remember, it is designed to have all 8 slots filled with stuff).

-Luke