[Zme]

I believe there is something to the effect of a DeleteInstance() function in wpi lib i'm not completely sure of its effects though. I do know that stoping cameras with it didn't seem to work out too well, and without source infront of me i can't say much else on it.

as for lag, try decreasing color depth or setting a moderate amount of compression (we use 50).

are you running any image processing? it can slow things down quite a bit.

let us know how it goes