Thanks for the help. I set my base period to 15,000, servo period to 60,000 and traj period to 600,000. I lowered my max vel to .75 (45 inches per minute, plenty fast enough). Everything seems happy except the realtime error which I have not run to ground yet. The RT error was there at the larger periods as well. I installed a video board and attempted to kill the MOBO video but the RT error lives on.
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