High Average Trip Time - What to look for?

[topgun]

At our regional this last week we saw our avg trip time between the robot and the FMS system running about 180 ms. Everyone else was usually under 10 ms, with most being under 4 ms.

I asked the FTA about it and he said that it was something in our code.

Does anyone have any ideas on how to go about detecting what is slowing our code down so much? Is there a way to simulate the average trip time?

We are using Java and CAN. Versions of cRio, Java and DS were all up to the latest versions.

Thanks for your help!