Our season has now finished, and one issue that ended up really hurting us was the amount of lag in our vision system. Out setup was as follows:
- Axis camera
- GRIP running as a second process on the RIO
- GRIP reading from the Axis camera, doing some processing, then publishing to network tables
- FRC user program pulling from the network tables every scheduler cycle
In the end, this whole process took anywhere from 0.5-1 seconds to actually act on the data. This caused a lot of issues with lining up the shot.
We were never able to track down exactly where in the pipeline we lose so much time. It could be any of the steps above.
How did your vision work, and how fast was it?