Howdy,
A hot topic surrounding the FRC community is Vision Tracking and Processing. Faster and faster, vision processing is becoming more accessible, with community projects, code releases, frameworks and new hardware to play with. There's also a common misconception that the RoboRIO just isn't powerful enough to run a Vision System, with CPU time to spare for your own program. Let's debunk that.
Here you can find the post I've made on how we can achieve 30fps, 640x480 Vision Processing on the RoboRIO itself without the need for a coprocessor.
In short, we can process 30 frames in about 231ms (7.7ms per frame), which is about 23% of the 30fps boundary. This leaves processing room for the FRC Network Daemon, as well as your own user code.
The code used in this investigation is available
here