Worried about high CPU usage in CRIO

[DominickC]

Now, I've placed this code within Periodic Tasks.vi. There are two more case structures similar to the two visible, and I've moved the axis value to Teleop.vi. Today, we were getting some infrequent watchdog errors which shut down our comms with the cRIO.

Just by looking at this image, is there a way to streamline the code? I had tried to do something similar to the second image with just the single case structure visible, wired to a joystick button. When the structure was false, it set motor outputs to 0. No matter what I did, it wouldn't work. (I followed it in debug mode, and it appeared that the command to set the motor output to -1 was being triggered, however nothing happened on our jags.)

Is there a conflict between the 500 millisecond timing and the 100 millisecond timing within the while loop?