Robot Drive Not Running Fast Enough

[Greg McKaskle]

Let me add in again. I'd encourage you to measure the CPU load and the time of the loop. Registry Gets are a pretty simple subVI that was created for each type of I/O in order to allow teams to build apps without needing to immediately modify connector panes or types on the connector pane.

They have a cost, but that cost is quite low. The arrays that are being searched are ten elements or less, and this is generally not the reason for the message of the OP. My advice is to use them once inside of teleOp or Auto and then wire within the subVI.

I failed to mention the profiler in the previous post, but if your logs show that you are indeed using most of your CPU, and that is why you are missing deadlines, then the performance profiler is the tool that will tell you how much CPU a given function consumes and how often it was called. There is nothing wrong with cleaning up the numerous getRefs, but it may not solve the original problem and may wind up being busy work.

Greg McKaskle