Sometimes autonomous cycles at half rate (19 Hz instead of 38 Hz)

[KenWittlief]

do you have printf statements in your code?

I havent done any testing with them this year, but with previous years RCs debug statements would slow you way down

they are a serial output - so its possible that after you run auton a few times they get so backed up they slow the loop down?

once we get our bot running right we comment out ALL the printf statements.