[Jared]

No one cares about how inefficient a routine is so long as it works in a match.

As somebody who honestly doesn't care how inefficient my (or anybody else's) software is so long as it works in a match, I hope I can explain my mentality.

The simple version is that FIRST is an engineering competition, not a science fair or research project. It's the difference between an engineer at a company that designs and manufactures really cheap CD players and a college professor. The engineer designing the CD player realizes that their solution isn't perfect, and shouldn't be, due to its limited parts cost and design time. The college professor has years and years to conduct research and strives to achieve perfection.

It's not always about doing things in a very academic, well documented, extremely optimized way, but instead it's about getting things done that work as well as they need to, but no better. Why shoot for 60 fps when 2 fps works just as well? Why learn about optimization techniques for things that are efficient enough? Why change code that already works when there is other work to be done?
To many, FIRST is an engineering competition. Teams must engineer a solution to a problem in a limited amount of time, just like real engineers do in the "real world". There is a finite amount of time to optimize an infinite number of things, so engineers must make tradeoffs. Should they give the programmers 10 hours with the robot to write vision software, or should they iterate on our hook so that we can lift totes easily? I didn't see a team this year that seriously benefited from having computer vision on their robot. Should a programmer spend time optimizing and threading their code when they could spend time practicing driving the robot?

Most people (myself included) judge robots by their ability to score points, prevent opponents from scoring, win matches (if applicable), seed high, and progress in the tournament structure of the competition.

A really cool mechanical thing that isn't very effective in a match is unimpressive - for instance, some 3D printed parts, many carbon fiber parts, many crazy magnesium alloy parts...

A really simple mechanical thing that is very effective in a match is very impressive. Look at the robots from 118, 254, 1114, and other really great teams. They use traditional methods of manufacturing with traditional materials because it works.

A really cool software thing that isn't very effective (vision processing this year) is unimpressive to the crowd.

A piece of software that just works is impressive, regardless of its efficiency, documentation, or organization.

I never saw a robot and thought "Gee, that team would be so much better off if there software was more efficient", or "that team could beat the Poofs if their vision system had a tiny bit less lag". Instead, I thought things like "if only their elevator was a little faster".

A lot of teams forbid the altering of code once it works, which is a disgusting practice. Teams that get 10-15 fps on a vision program and say "it's good enough" when they haven't even done their research on optimization techniques.

I have done both of these things. Once my code works, I don't change it. There are an infinite number of better things I can do with my time during build season than tweaking code to be slightly more efficient. If it's efficient enough to do what I need it to do, I don't want to waste either my time or my team's time with changing things.

What if 10-15 fps is enough? What if 1 frame per second is good enough?


I guess what I'm saying is that most teams software is 'good enough' and is rarely is what causes a team to be unsuccessful. There are many teams with very well written software and ineffective robots, but there aren't many teams with effective robots limited by bad software. Rarely are the best robots filled with extremely complex algorithms and parts, but rather, well engineered simple solutions. The code posted in Chief Delphi whitepapers often deals with concepts more advanced than anything found on any world champion robot.