Worried about cRIO CPU usage when using vision

[edthetoad]

Hello,
Our team is looking into using a camera to help us with shooting baskets. We were worried that the cRIO might have some trouble with running the vision and normal programming. We usually have fairly complex programs with many PID loops and usually we use about 80% of the CPU after we spend time optimizing the code. We find that running the basic drive code and a basic vision code gives us about 95% usage. This is a large increase from the 50% from a basic code. When we probe data/view images in a front panel our CPU usage on cRIO jumps to about 100%. After several seconds of 100% CPU our robot will disable itself. This also happens if we change PID loop variables or we change some vision settings while we have vision processing running. Currently we have switches that disable our drive/PID loops/vision processing but this cannot be a permanent solution for us. We would like to know if there would be a way to lower our CPU usage. What are you guys seeing for CPU while using vision. We are a little worried about our cRIO as sometimes when it runs some new code after we have deployed it the CPU usage spikes to 100% and it loses connection. Should the cRIO be disabling/crashing when it is overworked. For our vision code we are using a modified version of the included rectangle tracking. We have gone back to the original version of the rectangle code and our problems are much worse. What could we be doing wrong? Has anybody been able to send vision processing to a laptop on the robot. Currently we are using 95% running fairly optimized versions of drive/vision/a single PID loop. We have done research and have found that several teams have removed the safety checks for motors. How would we do that? Is there also a way to see which vi's are using the CPU the most?