[nickmagus]

I have already done some experimentation with the resolution. It significantly improves the speed of the loop (about 3.3 times faster which is about right since it has 1/4 as many pixels to look through) but the autonomous still only runs at 10 hz (not nearly fast enough). With some further experimentation i found that the frcColorThreshold() appears to be the slowest link. Threading is a possible solution but it seems that that would not help because threading cant increase the processor speed of the cRio. it might not speed up the camera but it would keep it from interfering with the rest of the code.