[Joe Ross]

I'm curious about your vision processing architecture that makes it better to have the IMU attached to the vision processor, rather then the roboRIO. In FRC, it's most common to use the gyro to close the loop, with setpoint updates from vision processing. In that case, it's much better to have the gyro connected to the roboRIO, as you need low latency when closing the loop, but can afford higher latency on setpoint updates.