prog694/joebot — Issue #1: CV lags the rest of the program
Author: acarrillo
Created: 2012-02-16 16:35:57+00:00
State: open

We suspect that the vision processing is causing the robot to lag. We commented out [these lines](https://github.com/prog694/joebot/commit/9cab3f56fd345552613966721c251e0e6926912a#L0L47) in the robotInit of JoeBot.java, but it looks like we did not comment out [lines 90-91](https://github.com/prog694/joebot/blob/develop/src/edu/stuy/JoeBot.java#L90) in teleopPeriodic:

```
CameraVision.getInstance().doCamera();
CameraVision.getInstance().toggleTargetLightIfAligned();
```

We should test this again (after we finish with the rest of our testing schedule), but do @kingofirony and @Yulli have any recommendations for reducing lag? Perhaps we should add a delay to the vision processing, or run it in a separate thread?