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Bad Lag
Our team has gone to two regionals this year. At both we have experienced large amounts of lag between our control system and robot. After our first competition, we decided to take a shotgun approach to fixing the lag. We had originally written or code in Java with the simpleRobot template, so we tried writing it in Iterative, both with and without a separate thread for the drive system. We did find that the Iterative without a thread for drive improved the lag issues, but a newer issue seemed to emerge. We would see the robot stop for a bit, drive for a bit, then stop again, repeating over and over. The drive logs did not show any lost connections. If anyone has had this issue and was able to solve it, it would be great if you could show us how to fix this.
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The point of outreach isn't to "win" a "game" so I'm not sure what you hope to achieve with such a concept. The idea of "beating" another team in terms of outreach is fundamentally flawed. - dcarr [more] 
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