Building a safe and easy system for sending computer vision data from a raspberry pi to a roborio

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2019-05-27 05:22:00 -0400

Computer vision on an FRC robot has some problems.

• RoboRIO is not powerfull enough
• NetworkTables is not fast enough
• A TCP connection is great until you lose connection
• mDNS discovery is not reliable on the field
• UDP can skip frames

Needs

These are the things I need to have.

• Send data from any device
• Recive data on RoboRIO at any time
• Data rate faster than period time

Wants

These are the things I would like to have.

• Easy discovery
• Threaded
• Simple interface for new programmers
• Fallback in case of UDP issues
• FMS network firewall compliant

I am currently working on a protocol for solving this problem, nad will post an update here once it has been tested. Feel free to let me know your thoughts and ideas.