CAN-based delays

[wireties]

We are loving the new Talon SRX controllers! There are so many kewl features. But the other day our programmer-students were reporting delays processing commands from the driver station. Our application in the robot is all message-based with multiple threads responding to messages to perform subsystem-specific tasks. The students had inserted some code to query 6 different Talons for information about connected sensors inline with code that answers flurries of messages (100s per sec) and were seeing some delay. The delay was from the CANbus queries. I helped them fix it by only querying the Talons when they needed the data, not all of the time, and by handling the messages more efficiently.

Has anybody else experienced this? Any unexpected delays issuing commands to Talons (to which the Talons must answer)? If Omar is listening, how fast do the Talons respond to messages requesting data about sensor outputs etc?

TIA