[Chris is me]

Originally Posted by sparrowkc

First Problem
On several occasions, we experienced severe lag (~5 seconds) between the driver controls and the robot's motion. This problem only emerges when we're on the field with the FMS. Sometimes it persists after a match across multiple power cycles, and then fixes itself seemingly randomly. I'm fairly confident that this is nota code problem; We've never seen it before and is solved by multiple reboots, not code changes.

This issue happened to 1714 at IRI last year. I don't know how to describe what caused it, but I believe data was being written to memory that was not erased before power off or something like that. I guess there was data involving the camera that ate up memory because the camera was no longer plugged in. If you don't know how to change your code to fix this (if I were more code savvy I'd have a better description here), flashing your cRIO every match will make the problem go away as a quick fix.