Quote:
Originally Posted by davidthefat
But there is a bandwidth/latency problem you have to overcome. I mean it is milliseconds of time we are working with here, but you will have to run tests to actually see if offloading calculations will actually save you clock cycles. I might honestly be faster to crunch data on the cRio than to transfer over data to the board, calculate and then send it back. Your number two is valid, from what I see. But considering the short time frame of a match, will you pick up on it quickly enough to go into manual override? Just some potential issue I see. Also, you have a very short time to figure all that out, you need a way to interface with the cRio seamlessly.
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I am sure the time from reading 8 bytes of "The angle is blah" from the beaglebone is much faster than reading 640 * 380(?) * 4 bytes of an image, converting the image to the right colorspace for our work, then doing filters and other operations to detect and locate the position of the targets.
When the robot goes through robot-init it tries to connect to the beaglebone, and sets a flag if it fails. We could simply show a light that the connection failed.
As for the speed of doing this on the beaglebone, it is a 700 Mhz processor, and seems to do these calculations almost in real time. We could of course have it cache the previous calculations, and simply immediately return the "stale" value if needed, but I doubt that will be necessary.