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Re: C++ vs. Java (speed considerations only)
If you were going to try to achieve high-framerate vision processing on the cRio then C++ might be a good choice. Other than that I would recommend sticking with JAVA. Nothing else you would do on a robot should come close to taxing the cpu in JAVA.
Now that you can offload the vision processing to your driver station (e.g. see the paper released by 341 and the cookbook from WPI) you really don't need to do it on the cRio anyway. There are some of other advantages to doing the vision processing on your driverstation too such as being able to see what its doing :-)
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