[daltore]

I am in no way adept at vision processing, I just know random bits and pieces that I've picked up over the past few years.

We have the camera processing code in the right place, in a parallel loop inside Robot Main.vi, and the only camera code in Teleop.vi is the "Rotate To Target" VI that was already there, and is only run when button 3 of joystick 1 is pushed. I've added in some conversion code to turn the rotate into a servo controller (which all works), but the problem occurs even with that disabled.

About the CAN, the CAN transceiver chip in the beige Jaguar can operate up to 1 Mbps, but limited to the serial port 115,200 baud and running encryption, the useful data rate might be much lower. I can't find any data on the black Jags so far, but I assume it would be either the same or faster. I do not believe that CAN is the issue, as the default CAN project has no issue with the watchdog, and even with all of the new CAN VI's I've put into our code disabled, our project is still slower than the CAN default project. The only differences in processing speed I can think of is the CAN signal encryption and the fact that CAN is handled in the processor instead of the FPGA like the servo signals (FPGA->digital module).

I don't have access to the cRIO until tomorrow, so I'll check out the timing and let you know. Thanks for the suggestions, and I'll keep you posted on how it goes.