1s Delay Affecting Driver Controls (FTC)

[Albo]

We are experiencing a long delay (1 sec) in responding to our driver station controls. We have been reading a lot of posts about managing parallel loops to keep periodic actions (e.g. shooting) from interferring with high response actions like driving, and we have tried to implement that with a separate, parallel iteration linked using a global variable.

Even so, something is interferring with our responsiveness. If feels like all control actions are delayed by 1 sec. If we command rapid movements, they all happen in rapid succession ... but don't start until about 1 second after we command the operations.

Would having too much going on in our main driving iteration cause this?

We also have a lot of constants and motor / servo references inside our iteration. Would it help to pull all of those static references outside the loop?

I have included a .zip with our main loop, with the motor configurator files.

We had a lot better responsiveness with our FRC program and are wondering what we are missing with this FTC program.

Thanks!