[iblis432]

To add to my mentor's post, we also experimented with a vi I found last year on the FTC forums known as Read Packet Flush.vi that replaced the read packet vi, in which it erased the inbox before accepting the next packet (least I think that is how it worked, the help file was a little lacking in the technical aspect). Last year this completely got rid of our lag for competition. This year I tried it with a vi of using only the drivetrain and it worked, however when I add the other code for the rest of the robot the lag seems to return.

My first idea is that the NXT is simply running too much code in each iterative and that it wasn't reading fast enough because of this, but I've seen teams with more complex setups than this, so I find it hard to believe. I understand that LABview is not as commonly used in FTC (least not from who we asked at competition last year), but help would be appreciated. The only idea I have left is run the NXT in two states, one for the first controller functions, one for the second, but i can't imagine this being easy or helping much.