We are having lag problems too, and I think its related to the latest set of updates. In our crio log file (while connected to the robot, select the diagnostics tab on the driver station screen, and then click the "View Log File..." button), the robot is recording up to 12 error messages per second associated with the cypress module (which we aren't using at all). This particular problem is being discussed in this thread,
http://www.chiefdelphi.com/forums/sh...272#post925272
but there is no solution found yet.