Code Inefficient?

[oddboy]

Hello,

We are currently at the FIRST Robotics Regional @ Richmond/VCU. We have been getting massive lag during tele op. However, this doesn't seem to be happening during autonomous. What we were told is that our code is "bloated/inefficient/RAM hog,etc". Can some one double check this code?

Here is our code(s):

RobotTemplate:

a/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. All Rights Reserved.                             */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project.                                                               */
/*----------------------------------------------------------------------------*/

package edu.wpi.first.wpilibj.templates;


import edu.wpi.first.wpilibj.*;
import edu.wpi.first.wpilibj.DriverStationLCD.Line;


/**a
 * The VM is configured to automatically run this class, and to call the
 * functions corresponding to each mode,as described in the SimpleRobot
 * documentation. If you change the name of this class or the package after
 * creating this project, you must also update the manifest file in the resource
 * directory.
 */
public class RobotTemplate extends SimpleRobot {

   private static Joystick dualShock = new Joystick(1);
   protected static Joystick jordansFolly = new Joystick(2);
   protected static Jaguar jag1 = new Jaguar(1);
   protected static Jaguar jag2 = new Jaguar(2);
   protected static Jaguar shooterJag = new Jaguar(3);
   protected static Victor rampMotor1 = new Victor(4);
   protected static Victor rampMotor2 = new Victor(5);
   protected static double shooterControl;
   protected static RobotDrive drive = new RobotDrive(jag1, jag2);
   // 1 for near, 2 for middle, 3 for far
   // need some way of setting
    /**
     * This function is called once each time the robot enters autonomous mode.
     */
    public void autonomous() {
      // Will hopefully be able to hit all balls if positioned in a line

     getWatchdog().setExpiration(7);
     getWatchdog().feed();
     shooterJag.set(1.0);
     jag1.set(-1.0);
     jag2.set(1.0);
     Timer.delay(1.00);
     jag1.set(0.0);
     jag2.set(0.0);
     shooterJag.set(0.0);
     getWatchdog().setExpiration(20);
     // needs code to turn pi/2 left, move 3 feet, turn back, and repeat above
     // then do again
    }
    

   public void testOutput(String s, Line l) {
        DriverStationLCD lcd = DriverStationLCD.getInstance();
        lcd.println(l, 1, s);
        lcd.updateLCD();
    }
    /**
     * This function is called once each time the robot enters operator control.
     */
    public void operatorControl() {
        getWatchdog().setEnabled(true);
        //shotDelay1.reset();
        while(true && isOperatorControl() && isEnabled())
          {
            getWatchdog().feed();
          //  Solenoid sol1 = new Solenoid(1);
          //  sol1.set(false);
            //Pneumatics.operate(dualShock, shotDelay1);
            DualShock.drive(dualShock, jag1, jag2, drive);
            shooterControl = jordansFolly.getZ()/-2.0 + 0.5;
            shooterJag.set(shooterControl);



            //THIS WORKS - ml. 2/22

            //raises or lowers ramp while joystick trigger is held down
         //Pressed returns false for some reason
            if (jordansFolly.getTrigger())
            {
                rampMotor1.set(1.0);
                rampMotor2.set(1.0);
            }
            else if (jordansFolly.getRawButton(2))
            {
                rampMotor1.set(-1.0);
                rampMotor2.set(-1.0);
            }
            else
            {
                rampMotor1.set(0.0);
                rampMotor2.set(0.0);
            }

          }
    
    }

}

Code for Logitech DualShock controller:

        /*/*
 * To change this template, choose Tools | Templates
 * and open the template in the editor.
 */

package edu.wpi.first.wpilibj.templates;
import edu.wpi.first.wpilibj.*;
import edu.wpi.first.wpilibj.DriverStationLCD.Line;


/**
 *
 * @author Robotics
 */
public class DualShock {

   protected static double left;
   protected static double right;

      public static void testOutput(String s, Line l) {
        DriverStationLCD lcd = DriverStationLCD.getInstance();
        lcd.println(l, 1, s);
        lcd.updateLCD();
    }

    public static void drive(Joystick dual, Jaguar jag1,
            Jaguar jag, RobotDrive drive)

    {


    left = dual.getRawAxis(4); // Y-axis on left stick
    right = dual.getY();
    // left is jag 3, right is jag 2
    drive.setLeftRightMotorSpeeds(left, right);
    Timer.delay(0.005);
    //pause for duration between update cycles of jaguars
    //may not be needed
    }

}

Here is the ZIP file for all the code: http://qwh9pg.blu.livefilestore.com/...e.zip?download