[Greg McKaskle]

The system monitor functionality is now reached by right clicking on the RT Target in the Project window. Then go to Utilities and choose System Monitor.

This information is also on the Charts tab of the DS.

As for things using lots of CPU. Vision has a tendency of doing that. One thing to consider is how often or when the vision code needs to run. Do you run it when you think your robot is at a scoring location, or all the time? Do you run it while driving in tele, or when a button is pressed? Do you need it to run at 320x240, or can you run it on a smaller image (perhaps when close)? Do you need to do the convex hull and other operations on the whole image, or do you know something from previous images to help look where you expect things rather than look at the entire image?

And the profiler or your own instrumentation is the right way to look for how often code is running or at the CPU usage. The cRIO should not crash when run at 100%, but it likely means that some things aren't running as fast as you asked them to run. That will affect the control performance, so you may want to think about how fast things are running to see if you can slow some things down or prioritize things.

Greg McKaskle