# Timing of RoBIOS functions

Camera functions
Tested on Robot A (1) Running RoBIOS version 2.3l at 35.7 Mhz
Function(parameters) | microseconds per call | Number of calls per second
CAMGet(&i,&h,&s) | 13.13 | 76159.76
CAMGetColFrame(&cimg, 0) | 265957.45 | 3.76
CAMGetColFrame(&cimg, 1) | 265957.45 | 3.76
CAMGetFrame(&img) | 265957.45 | 3.76
CAMMode(AUTOBRIGHTNESS) | 265957.45 | 3.76
CAMSet(0,0,0) | 6.93 | 144271.59
CAMSet(127,127,127) | 7.79 | 128307.94
CAMSet(255,255,255) | 7.79 | 128307.94
Camera functions
Tested on Robot Danny (1) Running RoBIOS version 2.3l with Color Quickcam at 35.7 Mhz
Function(parameters) | microseconds per call | Number of calls per second
CAMGet(&i,&h,&s) | 15.10 | 66211.88
CAMGetColFrame(&cimg, 0) | 645161.29 | 1.55
CAMGetColFrame(&cimg, 1) | 645161.29 | 1.55
CAMGetFrame(&img) | 10.60 | 94319.86
CAMMode(AUTOBRIGHTNESS) | 10.07 | 99317.19
CAMSet(0,0,0) | 14.46 | 69177.56
CAMSet(127,127,127) | 14.93 | 66964.29
CAMSet(255,255,255) | 14.93 | 66964.29
Key functions
Tested on Robot Danny (1) Running RoBIOS version 2.3l with Color Quickcam at 35.7 Mhz
Function(parameters) | microseconds per call | Number of calls per second
KEYRead() | 254.10 | 3935.42
LCD functions
Tested on Robot A (1) Running RoBIOS version 2.3l at 35.7 Mhz
Function(parameters) | microseconds per call | Number of calls per second
LCDArea(1,1,2,2,1) | 400.33 | 2497.92
LCDArea(1,1,2,2,2) | 399.07 | 2505.85
LCDArea(1,1,32,32,1) | 94250.71 | 10.61
LCDArea(1,1,64,64,1) | 25.64 | 39007.88
LCDArea(1,1,8,8,1) | 5920.66 | 168.90
LCDArea(1,1,8,8,2) | 5929.44 | 168.65
LCDClear() | 66844.92 | 14.96
LCDGetPixel(1,1) | 62.40 | 16025.64
LCDInvertPixel(1,1) | 91.56 | 10922.33
LCDLine(1,1,1,64,1) | 28.33 | 35301.05
LCDLine(1,1,1,64,2) | 28.31 | 35321.82
LCDLine(1,1,32,32,1) | 3089.18 | 323.71
LCDLine(1,1,64,1,1) | 6054.73 | 165.16
LCDLine(1,1,64,1,2) | 6082.73 | 164.40
LCDLine(1,1,64,64,1) | 28.33 | 35301.06
LCDMenu("one","two","thre","four") | 2536.27 | 394.28
LCDMenuI(1,"one") | 707.13 | 1414.17
LCDMenuI(2,"two") | 707.24 | 1413.94
LCDMenuI(3,"thre") | 708.81 | 1410.82
LCDMenuI(4,"four") | 708.81 | 1410.82
LCDMode(CURSOR) | 27.03 | 36992.85
LCDMode(SCROLLING) | 26.26 | 38080.13
LCDPutChar(c) | 840.27 | 1190.09
LCDPutGraphic(&img1) | 22041.00 | 45.37
LCDPutHex(i) | 6865.77 | 145.65
LCDPutHex1(i) | 1721.94 | 580.74
LCDPutImage((BYTE*)img1) | 7650.52 | 130.71
LCDPutInt(i) | 8582.22 | 116.52
LCDPutIntS(i,6) | 8568.25 | 116.71
LCDPutString("Testing\n") | 12716.17 | 78.64
LCDSetChar(1,1,c) | 211.29 | 4732.83
LCDSetChar(10,10,c) | 211.29 | 4732.83
LCDSetPixel(1,1,0) | 93.57 | 10687.57
LCDSetPixel(1,1,1) | 94.27 | 10607.85
LCDSetPixel(1,1,2) | 92.97 | 10756.55
LCDSetPos(0,0) | 85.88 | 11643.61
LCDSetPos(5,5) | 86.65 | 11540.49
LCDSetString(1,1,"Testing\n") | 1141.49 | 876.05
LCDSetString(10,10,"Testing\n") | 1146.67 | 872.09
OS functions
Tested on Robot E (5) Running RoBIOS version 2.3l at 35.7 Mhz
Function(parameters) | microseconds per call | Number of calls per second
OSEnable() | 7.22 | 138568.50
OSGetVar(SYSSAVEVAR7) | 18.11 | 55218.73
OSMachineID() | 5.68 | 176125.58
OSMachineName() | 5.88 | 169971.97
OSMachineSpeed() | 5.67 | 176240.47
OSMachineType() | 7.43 | 134604.75
OSPutVar(SYSSAVEVAR7, k) | 21.34 | 46855.48
PSD functions
Tested on Robot E (5) Running RoBIOS version 2.3l at 35.7 Mhz
Function(parameters) | microseconds per call | Number of calls per second
PSDCheck() | 5.48 | 182458.42
PSDGet(handle) | 21.08 | 47440.70
PSDGetRaw(handle) | 19.20 | 52096.57
Timer functions
Tested on Robot E (5) Running RoBIOS version 2.3l at 35.7 Mhz
Function(parameters) | microseconds per call | Number of calls per second
OSGetCount() | 5.67 | 176298.09
OSGetTime(&hrs, &mins, &secs, &ticks) | 19.68 | 50825.92
OSSetTime(hrs, mins, secs) | 13.14 | 76107.12
OSShowTime() | 40453.07 | 24.72
OSWait(1) | 10000.00 | 100.00
image processing
Tested on Robot Danny (1) Running RoBIOS version 2.3l with Color Quickcam at 35.7 Mhz
Function(parameters) | microseconds per call | Number of calls per second
IPColor2Grey(&cimg1, &img2) | 8302.89 | 120.44
IPDiffer(&img1, &img2, &img3) | 8278.83 | 120.79
IPDither(&img1, &img2) | 4298.67 | 232.63
IPGreyAverage(&cimg1) | 3005.98 | 332.67
IPLaplace(himg1[2], &img2) | 20627.06 | 48.48
IPSobel(&img1, &img2) | 35137.03 | 28.46
IP_Color2Grey(&cimg1, &img2) | 34989.50 | 28.58
IP_Color2GreyE(&cimg1, &img2) | 13860.01 | 72.15
IP_ImageRGB2HSI(&cimg1, &himg1) | 2083333.33 | 0.48