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<h1>Building a safe and easy system for sending computer vision data from a raspberry pi to a roborio</h1>
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<p><p>Computer vision on an FRC robot has some problems.</p>
<ul>
<li>RoboRIO is not powerfull enough</li>
<li>NetworkTables is not fast enough</li>
<li>A TCP connection is great until you lose connection</li>
<li>mDNS discovery is not reliable on the field</li>
<li>UDP can skip frames</li>
</ul>
<h2 id="needs">Needs</h2>
<p>These are the things I need to have.</p>
<ul>
<li>Send data from any device</li>
<li>Recive data on RoboRIO at any time</li>
<li>Data rate faster than period time</li>
</ul>
<h2 id="wants">Wants</h2>
<p>These are the things I would like to have.</p>
<ul>
<li>Easy discovery</li>
<li>Threaded</li>
<li>Simple interface for new programmers</li>
<li>Fallback in case of UDP issues</li>
<li>FMS network firewall compliant</li>
</ul>
<p>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.</p>
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