[ThorinOSDH]

Hello,
My team and I are having serious problems with our TeleOp program. It is almost up to a second of lag. I have put the individual portions of the program (like controller 1, controller 2, and long program segments that take time) into different loops to avoid slowing it down. This hasn't helped. Any help would be appreciated. Thanks! (Program attached)
P.S. Our competition is this saturday!