Swerve, vision and state (excluding external solvers) should take <10ms outside of occasional spikes. This gives 10ms to other subsystems before loop overruns.
Performance tuning may involve:
- Doing less
- JVM tuning
- Reducing GC pressure (less allocations)
- Using primitives instead of objects
- Using natives or unsafe/intrinsics
Swerve, vision and state (excluding external solvers) should take <10ms outside of occasional spikes. This gives 10ms to other subsystems before loop overruns.
Performance tuning may involve: