[BUG] CommandScheduler loop overruns

[skrunked]

Description:

CommandScheduler loop overruns consistently occur in teleoperated mode. Likely due to too many actions running in periodics (Overly complex calculations, unnecessary telemetry, etc.).

To Reproduce:

• Deploy code to real robot (roboRIO 2)
• Enable and perform actions (any)
• Watch riolog for command loop overruns
• Observe DSLog files to identify subsystems with high loop times.

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Urgency

• Nice to Have
• Important
• Actively Halting Development

Impacted Modes:

• Disabled
• Teleop
• Auto
• Simulation

Impacted Systems:

• Drive
• Vision
• Autonomous
• Logging
• Mechanism(s)

When?

• Periodic
• Init
• Command

File(s) of Focus:

All subsystem files, focused on the periodic() methods.

Resources:

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Screenshots/GIFs/Videos: