I Spent 3 Months Tuning a Tokio Runtime for My Robot — Here's What No Tutorial Tells You

I Spent 3 Months Tuning a Tokio Runtime for My Robot — Here's What No Tutorial Tells You Last November, my robot arm started dropping sensor frames at exactly 47ms intervals. Not randomly — exactly 47ms, like clockwork. It would read joint angles perfectly for a while, then miss a window, then recover. The anomaly detector we'd wired into the control loop kept triggering false positives. My teammate Rui and I spent two full weeks convinced the CAN bus driver was broken. It wasn't the driver.