Autonomous & Ultrasonic Rangefinder

[Team2246]

So while working with a mentor of mine and trying to program our three photocells we have ran into some problems. The tracking is working right, but it won't track at full speed. It sorta jumps or pulses. It jumped or pulsed 18 times in 15 seconds. so 1.2 times a second. Could this be a problem with the Ultrasonic Rangefinder? If not i would still like some guidence towards fixing this problem. Thank you everyone in advanced any help is appreciated. Also we are using a gyro, and the camera in adddition to the ultrasonic rangefinder and photocells. Oh and for some more info the counter class has some errors in the diagnostics on the driver station.