We have a problem with using too much roborio CPU usage, so we are going to use a rPi 3 to process the data from the limelight 2+. We are planning on connecting them both to a network switch individually. Is this the best way?
What is the best way to program this? We are using Java on the roborio. We plan to use Python for the rpi since it’s prebuilt, but we are willing to try another language.
The RPi, LL, roboRIO, and Radio would all connect to your 4 port (or more) network switch. Get more than 4 ports and you can connect wired to the robot for the practice field.
Why exactly are you using an rPi to process the data from the LL? It should be able to do it itself and less network traffic is better.
Thank you.
The limelight does the processing for the April tag. But our java code on the roborio does all of the math for the tracking to make our arm and robot move.
During the shoot portion of the tracking, our cpu gets stuck at the top and delays our controller input by about 5 seconds.
If you are just doing some math with the Pose returned from the LL, then there shouldn’t be much CPU usage. The computationally intensive part is the processing of the frames done on the LL. How did you determine the CPU usage was a result of processing the LL data?
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