Our team is working on sensor fusion for the limelight + encoders. A critical factor in fusing those values in the latency in the vision. I’ve seen different estimates of the latency. So as far as I know, the components in that stream are:
- Limelight Pipeline.
- Network Tables.
- Rio Loop Timing (i.e., where in the ‘read’ loop are you when the data becomes available).
I found one location that says something like this:
Total latency (Photons → Robot) : 21-25 milliseconds
-Pipeline Latency: 3-7 milliseconds
-NetworkTables → Robot latency: .3 milliseconds
-(NT limits bypassed to instantly submit targeting data.)
But it sure seems like a lot of things are missing in that 21-25 milliseconds. I’d like to quantify it a little better, and reduce it where possible. I’m sure teams have already done this. Anyone have some starting points? For instance, how do you ‘bypass NT limits’.
How would you measure the latency?