[Greg McKaskle]

The symptoms don't sound identical, but the first thing I'd do is to turn off the error logging on the cRIO. As mentioned, C++ and Java teams have in some conditions been seeing delays due to excessive numbers of errors causing lots of printf/logging. Similarly, the LV code has globals for sending uncaught errors to the driver station and logging them.

To turn off the global, search for a post from Doug Norman and follow the directions. Also, if you'd rather not turn off vision, it is possible to speed up the dashboard vision quite a bit by building your own custom one from the template. One useful performance enhancement is to right click on the image control>>Visible>>Image Information. This should hide the textual information below the display. A combination of this and the chart were causing expensive draws on the classmate. This was pretty easy to locate using the performance tools.

As for the vision memory not clearing, I'd like to hear the explanation for that which doesn't use Star Trek technobabble. In short, the vision adds some overhead, but can be used just fine on a controller provided everything else is pretty well behaved. I'd encourage you to do your own debugging and not buy into explanations which require RAM to misbehave in a very special way, just on your robot.

Greg McKaskle