Wierd roboRIO lag spike

[abraker]

Hi teams!

We are trying to debug encoders to get an accurate reading, and determined that some sort of lag spikes happen randomly. I stripped the loop so that it only checks for a raw value (for debugging purposes), and stops the motor when the value is >=1440 (360 deg rotation using k4X encoding type) and prints the number of milliseconds it took. Most of the time it runs for ~630 ms, but when the random lag spike hits, it runs for anywhere between 700 ms to 800 ms.

Our loop:

t1.set(0.15);
t2.set(0.15);
while(isAutonomous() && isEnabled()){
   if(encoder.getRaw())>=1440-56){  // it overshoots everytime, so -56 to compensate
      t1.set(0.0);
      t2.set(0.0);
      clock.stop();
      SmartDashboard.putNumber("Timer: ", clock.get());
   }
}