RoboRIO Vision Tracking at 30fps without a Coprocessor

TL;DR: We can run 30fps Vision Tracking on the RoboRIO at 7-8ms per frame, equating to only about 23% CPU Time. For scale, the FRC Network Comms program uses about 20% CPU constantly

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Writing your own mDNS implementation to hack the FRC Driver Station

When I wrote Toast for Java, I had a master plan for the simulation environment, and it had to fit the following agenda:

  • It has to work with the official FRC Driver Station
  • It has to work when the Driver Station is on a different computer
  • It has to be easy to use
  • It can’t have external dependencies outside of the bundled software.
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