Okay, I tested how long it took to configure a Jaguar for Position mode.
Clearly, there is something here I'm not accounting for. My estimate was 16ms, and it's turning out to be 172ms.
The figure is very consistent, always 172 or 173 with this combination of actions.
There is no difference in time between the black or tan jags, nor between the bridging jag and the others.
(For some reason, the Device Query action was taking 500ms, and not returning anything, so took that out to make the "total time elapsed" a relevant figure.)
EDIT: Device Query now seems to be taking about 172ms, but still not returning anything.
Anyways, when I run this VI in a loop, with DS Comms running in parallel, it seems to take around 220ms disabled, 240ms enabled. (teleop vs autonomous doesn't make a difference) However, it has a LOT more jitter; the time varies by at least 10ms each way.
