On Board Computer

[Tom Line]

Originally Posted by Tom Bottiglieri

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.

We did a bit of the opposite. Our vision acquisition and processing didn't run unless the 'fire' trigger was pulled. Then, once it gathered the first valid image and had a target, it saved those values to reference against our turrent pot and shut down the vision code.

We'd see a temporary spike to 90% during the one frame acquisition and processing, but usually our code hovered around 70-75% cpu.