[techhelpbb]

I would try the Logitech C920 USB2 camera.
That's what FRC11 has on their robot.

Using the CameraServer in Java on the RoboRIO I noticed a minimal delay on a private network streaming to the dashboard when not on the field.

I'd have to ask FRC11 how it went on the field.

It is possible that your other code on the RoboRIO is using up the CPU such that the USB camera is impacted.
I suppose the IP camera is one way to address that.