[pSYeNCe]

Good news, I disabled vision and the lag stopped entirely. I looked through the code and on the front panel of Begin.vi, the res is 160x120, but it is set to 320x240 on Robot Main.vi. I wonder if that was causing the problem (trying to convert the res slows it down or something). Unfortunately I won't have any time to test more, since we have to focus on more core aspects in these last few hours :O.