Delay in controls (HELP!)

[apalrd]

Maybe my understanding of embedded programming is different than everyone else's, but I've always understood embedded systems (such as FIRST robots) which run in real time iteratively have little need for dynamic memory allocation (as they always use the same variables, and pass data in and out of functions and variable storage). For things like the camera image it might be nice to allocate memory dynamically, but still, does a robot really need to create and destroy objects while it is running (post-initialization)?

Although all of the RT embedded programming I've done outside of FRC is for systems which lack dynamic memory allocation (and I'm lucky if it has an RTOS with pre-emptive scheduling). In FRC, I use LabVIEW which does everything for me.