How to debug High CPU utilization in RoboRio running Java

[richtop]

Thanks for pointing me the the camera, it helped.

We took the image to it's smallest size and 1 Frame per second, and CPU dropped slightly. Now it is at about 90% to 100%, but importantly the driver control lag dropped and the functionality that was failing to work is now working again (e.g. the drive straight button). So it seems that there is something other then the camera still hogging the CPU.

We have Image processing code we hope to turn on to align to the goal, but I don't see anyway that the images could possibly be processed if we are always at 90% to 100% CPU.

One thing that has improved or become obvious is that the CPU only goes high while in Teleop, otherwise it is around 35%.

We had to spend time tuning the controls and other things today at day 1 of the tournament, but this is going to be the number one thing to work on very soon.