Issue with the ADXRS450 Gyro

This year, for our robot, we decided to use a gyro to make our driving line up better and straighter. We got an ADXRS450 and decided to use that as it was easy to plug into the RIO and program. It worked fine for a while, but now we’ve run into an issue. It seems that whenever we have the gyro connected to our RIO, it lags the RIO and DriverStation. When we have it attached it takes far longer for code to deploy, and DriverStation occasionally loses robot code for about a minute at random times. Has anyone else had this issue or know how to fix it?

EDIT: Here is a Github link that has a copy of our most recent backup if anyone would like to download and look at it.

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