On Board Computer

[Tom Bottiglieri]

Originally Posted by btslaser

That's exactly what we did except we fed turret position. The cRIO CPU would spike to around 80-90% for a moment during the image processing but since nothing else was happening during the shot sequence it was never an issue. Never saw the need for continuous image processing or offloading to an external CPU...

I'l like to elaborate on my last post a bit. We did run the vision code continuously, but the control loops only relied on one valid frame and the vision processing ran in a separate task with lower priority than the main robot code/communications task. The vision task slept enough to not cause particularly high CPU usage. When we were looking for a frame, we would use the last processed frame (if we got a good result within the last, say, 100ms) or wait for a fresh result to appear.