[Tom Line]

Depending on what you want to do, it may be a mistake to process a camera stream real-time.

If you have a turret that aims while you are driving, it makes sense to process a video stream. You can be aiming all the time, so that when you stop you don't have to move very much.

If you're using the drivetrain, however, it's a much less costly proposition in terms of CPU if you stop, take a picture, then calculate how much you need to turn. Once you've completed your turn you can do another picture to verify you are aimed correctly, or do the loop again and turn a bit more.

Very few applications in FRC require real-time video processing at any appreciable frame rate. Unless you are 254.