Package frc.spectrumLib.vision

Class Limelight

java.lang.Object
frc.spectrumLib.vision.Limelight
public class Limelight extends Object

  • Constructor Details

  • Method Details

    • getName

      public String getName()

    • isAttached

      public boolean isAttached()

    • getHorizontalOffset

      public double getHorizontalOffset()
      Get the horizontal offset from crosshair to target
      Returns:
      Horizontal Offset From Crosshair To Target (LL1: -27 degrees to 27 degrees / LL2: -29.8 to 29.8 degrees)

    • getVerticalOffset

      public double getVerticalOffset()
      Get the vertical offset from crosshair to target
      Returns:
      Vertical Offset From Crosshair To Target in degrees (LL1: -20.5 degrees to 20.5 degrees / LL2: -24.85 to 24.85 degrees)

    • targetInView

      public boolean targetInView()
      Returns whether the LL has any valid targets (April tags or other vision targets)
      Returns:
      Whether the LL has any valid targets (April tags or other vision targets)

    • multipleTagsInView

      public boolean multipleTagsInView()
      Checks if the LL sees multiple tags
      Returns:
      whether the LL sees multiple tags or not

    • getTagCountInView

      public double getTagCountInView()

    • getClosestTagID

      public double getClosestTagID()
      Gets the ID of the apriltag most centered in the LL's view (or based on different
      Returns:
      the tag ID of the apriltag most centered in the LL's view (or based on different criteria set in LL dasbhoard)

    • getTargetSize

      public double getTargetSize()

    • getMegaTag1_Pose3d

      public edu.wpi.first.math.geometry.Pose3d getMegaTag1_Pose3d()
      Get the corresponding LL Pose3d (MEGATAG1) for the alliance in DriverStation.java
      Returns:
      the corresponding LL Pose3d (MEGATAG1) for the alliance in DriverStation.java

    • getMegaTag2_Pose2d

      public edu.wpi.first.math.geometry.Pose2d getMegaTag2_Pose2d()
      Get the corresponding LL Pose2d (MEGATAG1) for the alliance in DriverStation.java
      Returns:
      the corresponding LL Pose3d (MEGATAG2) for the alliance in DriverStation.java

    • getMegaTag1_PoseEstimate

      public LimelightHelpers.PoseEstimate getMegaTag1_PoseEstimate()

    • getMegaTag2_PoseEstimate

      public LimelightHelpers.PoseEstimate getMegaTag2_PoseEstimate()

    • hasAccuratePose

      public boolean hasAccuratePose()

    • getDistanceToTagFromCamera

      public double getDistanceToTagFromCamera()
      Get the distance of the 2d vector from the camera to closest apriltag
      Returns:
      the distance of the 2d vector from the camera to closest apriltag

    • getRawFiducial

      public LimelightHelpers.RawFiducial[] getRawFiducial()

    • getMegaTag1PoseTimestamp

      public double getMegaTag1PoseTimestamp()
      Returns the timestamp of the MEGATAG1 pose estimation from the Limelight camera.
      Returns:
      The timestamp of the pose estimation in seconds.

    • getMegaTag2PoseTimestamp

      public double getMegaTag2PoseTimestamp()
      Returns the timestamp of the MEGATAG2 pose estimation from the Limelight camera.
      Returns:
      The timestamp of the pose estimation in seconds.

    • getPoseLatency

      @Deprecated(forRemoval=true) public double getPoseLatency()
      Deprecated, for removal: This API element is subject to removal in a future version.
      Returns the latency of the pose estimation from the Limelight camera.
      Returns:
      The latency of the pose estimation in seconds.

    • getDistanceToTarget

      public double getDistanceToTarget(double targetHeight)
      get distance in meters to a target
      Parameters:
      targetHeight - meters
      Returns:
      distance in meters to a target

    • sendValidStatus

      public void sendValidStatus(String message)

    • sendInvalidStatus

      public void sendInvalidStatus(String message)

    • setLimelightPipeline

      public void setLimelightPipeline(int pipelineIndex)
      Sets the LL pipeline to the given index.
      Parameters:
      pipelineIndex - use pipeline indexes in Vision.VisionConfig

    • setRobotOrientation

      public void setRobotOrientation(double degrees)
      Sets the robot orientation in degrees for the Limelight's internal IMU.

    • setRobotOrientation

      public void setRobotOrientation(double degrees, double angularRate)

    • setIMUmode

      public void setIMUmode(int mode)

    • getTagTx

      public double getTagTx()

    • getTagTA

      public double getTagTA()

    • getTagRotationDegrees

      public double getTagRotationDegrees()

    • setLEDMode

      public void setLEDMode(boolean enabled)
      Sets the LED mode of the LL.
      Parameters:
      enabled - true to enable the LED mode, false to disable it

    • blinkLEDs

      public void blinkLEDs()
      Set LL LED's to blink

    • isCameraConnected

      public boolean isCameraConnected()
      Checks if the camera is connected by looking for an empty botpose array from camera.

    • printDebug

      public void printDebug()
      Prints the vision, estimated, and odometry pose to SmartDashboard

    • isIntegrating

      public boolean isIntegrating()

    • setIntegrating

      public void setIntegrating(boolean isIntegrating)

    • getCameraName

      public String getCameraName()

    • getLogStatus

      public String getLogStatus()

    • setLogStatus

      public void setLogStatus(String logStatus)

    • getTagStatus

      public String getTagStatus()

    • setTagStatus

      public void setTagStatus(String tagStatus)