[sailorjoe]

What follows is more theory than demonstration, because I haven't fully tested the vision code yet. We will in a couple of days. I anticipated that the vision code would take more than 20 ms to execute. I have a test program wrapped in a timer to find out just how long it really takes. Other notes: clearly the code will run faster if there are fewer particles to process. So adjusting the threshold so you get fewer particles is a good place to start. My Autonomous Command starts with just doing the vision processing. Only once the HotOrNot decision is made, do I begin to create scheduled commands for to execute, like driving forward. I'm not completely sure that will work, but I want to give the cRIO every chance to concentrate on the vision work without distractions. Lastly, I expect to try to find some performance improvements in the code. For example, I already eliminated the distance calcs, since we don't need them. We're working in Java, by the way. More as testing proceeds.