[theanabanana]

We figured out how to optimize it by changing the image taken to grayscale (U8). This reduced the cycle time for the while loop in the Robot Main from 300 to about 180ms. This is better, but still not very reasonable. 100ms at least would be a better goal.

It also significantly lowered the cycle time of the while loop when we changed the image resolution to 160x120. However, making the images this size is not beneficial at all because the ellipses are hard to read at that size.

Sooo while our robot's electrical mounting is taking place (therefore I cannot test/debug the cycle time), I'm studying the Vision VI in the bottom Flat Sequence Structure. There is a comment in inside its Camera: Update Status VI, written by the original programmers of the default code (not to be confused with the standard .lvlib library code) . It says:


Quote:
This subVI is reentrant so that it will work correctly if used in multpile locations. You may want to change the VI Property to disable reentrancy if debugging.

I don't believe the Camera: Update Status VI needs to be implemented anywhere else in the code really.

So, I'm planning on taking the shift register out and feed the "Enable Vision" global into the simple case structures inside the original shift register. It's one less step to go through, and could reduce the time spent in each cycle. I'm not sure if it will be a significant amount of time, but we can still shave the cycle time down in as many places as possible to reach our less-than-ideal but realistic goal of 100ms.

Ana