u/CrownSheep

Whenever we run our main OpMode, we get low loop times around 30hz to 40hz, which messes with our PIDs and some other stuff, from what I've seen you should aim for 100hz+. Also in other OpModes even though they have less hardware and subsystems but not by a significant amount it runs at 150hz to 200hz. We tried using bulk caching but it didn't do much of a difference. This is the hardware we have on the robot if that helps: 4 wheel motors, 1 shooter motor, 1 intake motor and one turret motor, it also has three gobilda servos and one is in CR mode and finally a webcam and a limelight.

When I first started playing I noticed it was very hard for me to reload using the R because of the way I put my fingers on the keyboard, so I switched it to the forward side button and after some more time I noticed it was also hard for me to reach 4 on the keyboard, so I rebinded it to the back side button. And I think I've been doing pretty well since then (Gold 1).