CPU usage 100% & twitchy robot?

[grosh]

When we enable our robot the code seems to run fine for a couple of seconds then it becomes twitchy and/or laggy. What I mean by twitchy is the light on the motor controllers flicker periodically and the motors controlled by joystick buttons do not respond quickly. Also, the CPU usage on the DS graph changes from 65% to 100% at the same time that the robot seems to become twitchy. In previous years we have had much larger code without problem.

In addition, when I put probes in the teleop vi the probes indicate that the code is running perfectly. However, the motors on the robot do not.

I have included a picture of our teleop code. Any ideas?