[sailorjoe]

Greg, great info, thanks. We only store three images on the cRIO, and that's only for getting all the camera and filtering settings right. Once we have them tuned, we can remove them. Might keep one during competition for later diagnostics. Since our plan is to initiate the long time period to bring up an image in the RobotInit() method, by the time the game starts we'll be on our way. So effectively we're running vision in its own threads, one for init, and a much shorter one for snapshot processing. We won't ask the bot to do anything else until the hot goal decision is made, which we estimate will take about 300 ms. After that we don't do any further CPU-intensive processing during the match. Fortunately, we can recognize the hot goal without moving the robot from it's starting position.