[Greg McKaskle]

Camera lag will always be there, but you can make it much much smaller than what you are describing. If you open and run the vision demos, you will see lag when you are viewing the entire image via the debugging tools, but it isn't 1/2 sec. If you switch it to show the mask the lag will be far smaller.

A better measure of the lag and aiming ability is to open the servo camera example. Since it is already controlling something, you can turn off most or all of the UI displays and get a better feel for the ability for it to respond. Again, the lag is still there, it always will be, but it is pretty small at that point.

You don't mention much about the setup that was producing lots of lag. Just a guess, but 640x480 images, especially if decoded and displayed on the cRIO will have pretty substantial lag.

Greg McKaskle