[plnyyanks]

Are you saying that your camera is lagging? You should reduce your framerate/quality (these can be found when you open the camera in Begin. Lower the framerate and raise compression). You should also make sure your vision processing code is as efficient as possible and runs as quickly as you can make it.

If you want your robot to respond faster through your PID controller, you should raise Kp or Ki, depending on how exactly you want it to respond.