[JesseK]

For us the issues weren't about vision itself - it was about an erroneously-tuned PID on the shooter tilt/pan that took forever to settle. At the start of the competition, the shooter would be off by +/- a few degrees in pan and +/- a lot of degrees in tilt. Double-check those if you have a few spare hours. Note - we use a turret rather than drive train to adjust left/right aim.

We use Axis -> mjpeg (320x240@15) -> FMS Network -> (D/S Laptop) Open CV -> Network Tables -> FMS Network -> RoboRIO.

We used all of our free time this past Saturday to re-tune the shooter PID from scratch and optimize a few processing pathways. It was heartbreaking to miss the tournament, but it had a major silver lining: off the field, the shooter now tracks without noticeable lag to within about +/- 0.2 degrees. I would expect about an additional 100ms delay on the field given the packet round trip times through the FMS.