How to debug High CPU utilization in RoboRio running Java

[richtop]

When looking at the CPU utilization trace in the we are running, once teleop starts, we are running at 85-95% and often getting pegged at 100%. I was able to trace the day that this problem started occurring. Logs, prior to March 6th at 1:00pm show the CPU running 25-35% range. I looked at the code we introduced back around then from our github logs (https://github.com/LakerRobotics/FRC...igation?page=2) I found one oddity, corrected that but still the problem remains.

Normally at this point I would use a java profiling tool (jProfile or JVM Monitor are two I am currently looking at for this problem) but before I go figuring out how to install and get those working on the roborio, I was wondering if anybody else had any suggestions on how to track the issue down.

We are, for the most part, using Robot Builder generated code. The one unique thing is some custom Motion control PIDs. The motion Control PIDS is done by some awkward wrapping of the PIDSource, but this code was working before Feb 6th, and was not changed around Feb 6th.

Again any suggestions on how to proceed would be appreciated.

Thanks