So the changes I said I was going to do: I implemented them and it didn't lower the cycle time at all.
I thought I'd show you how I got the waveform chart on my front panel of my Robot Main.vi. Well: rt-click, Graphs, waveform graph. Then go to the block diagram and implement this in the main while loop that includes your robot mode and whatnot and implement the code in the jpeg I've attached.
Still working on it,
Ana