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We been digging into why it appears that our Roborio CPU utilization seems high. Disabled and Teleop seem to run at 80-90%. Its tough to tell by simply watching the graph but it trends nearly on top of the voltage plot. When we deploy new code it drops to 40-50% as it relaunches then back to 80-90%.

We are running the command based program, Vision is processed on a co-possessor (Kangaroo), Camera is an IP Axis webcam. The Roborio has been recently re-imaged to try and assure no old on Roborio GRIP stuff is still there. We have removed most of our SmartDashboard.put_______ code from the program

Last night we tried a new program written from scratch using Robotbuilder that simply had one Subsystem (Drive train), one command (DriveRobot), and one Joystick. Drive Train has 4 talons and 1 analog gyro to drive the Mecanums. No bells, no whistles. Simple get 3 Joystick analog values and Drive. Even with this the Roborio CPU was 50%.

What is reasonable CPU usage?