[Ziaholic]

That's about the same thing we've found ... using the default code and default settings, we saw around 150 msec for Low resolution, around 250 msec for Medium resolution, and up to 500 msec for Hi resolution images.

You can improve those times by adjusting the parameters that feed into the Find Circles VI (like the search rectangle and quality parameters), but it'll always take longer than the 20 msec main loop within RobotMain.

Depending on your settings, you could have anywhere from 8 to 25 driver cycles in between target updates. The trick will be to write your Teleop or Auton code to be able to react accordingly when the target data is updated. If you act on the target data on every driver-cycle, you'll probably overshoot the target like we did at first.

We added some code to check and see if the target data has changed before we act on it. You can do this with either a feedback node or a shift register.