[Thad House]

Originally Posted by evanperryg

We've begun to encounter the issue that WPIlib for Java is poorly coded itself. The libraries relating to vision code are particularly messy. This may be why so many teams opt to build their own libraries entirely. Sometimes, optimization is good. But, usually, it isn't all that necessary for FRC because we have a magical beast of processing power called the roboRIO. Since there's no real limit on how inefficient your code can be (unless you try vision code, then good luck) there's usually no reason to optimize your code. Outside of FRC? Yeah, optimization is important. In FRC? Not really, because 2 minutes out of your 2:15 match, your robot is an RC stacking machine, not an autonomous robot.

This is a very true fact. You can tell the Java libraries for this year were rushed to get finished in time. Also, some of the hacks needed to interface with the native c++ code for the FPGA just look like they could cause more issues. This is the same thing that causes the vision libraries to be slow. It wastes alot of time marshalling the structs between java and c++, and this looks to be what is so slow. We've been trying to alleviate alot of these issues in the DotNet port, and its easier since working with native code is easier, but its still a challenge trying clean up the code to make it faster, yet keeping it running the same code.