[Radical Pi]

For the first problem, during my testing of our bot I found the lag in control to be caused by an enormous number of printf's in WPILib code under certain error circumstances (camera code looking for non-existent camera, throwing an error on every loop of the camera task, CAN bus not communicating with a jag that should be there for some reason such as breaker out or ID reset). I've written my share of lengthy complaint posts about it.

One time we lost communications with the cypress board right before a match that was hugely delayed, causing the computer to sleep and (as far as I could tell) crash the service for the cypress. A simple reboot fixed everything.

I've found the cypress board to have caused a variety of issues this year, one of which caused our 2 alliance partners to completely fail in eliminations. With all of these young, energetic programmers around, you'd think FIRST could create a more resilient system