Camera Code help

[gixxy]

Our team is using the camera to track and auto aim a turret for us. However as it is, it is causing all kinds of delays in the code and many errors.

I do not know this code nearly as well as I should (we divided up the tasks and Vision systems wasn't one of mine). However I would like someone with more experience than either of us has on the WPIlib vision system.

Code: https://github.com/frc3946/ReboundRumble

Thanks for any and all help.


As it stands when we start up the code it boots through the subsystems and once the camera code starts running gets through the 1 2 and 3 print statements (look through the code and you should understand), but has the "robot drive.....output not updated often enough" error after 1 constantly. Then we put in some more sub statements (I think we used "alpha, beta, ect." for that section.) Not sure when it err'ed then.