Limelights

NextLimelight is a wrapper around the Limelight3A that initializes the device lazily from the hardware map, while creating many useful methods. Any data that is not wrapped can be accessed through camera.

Creating a NextLimelight

Kotlin

// Using your configuration name
val limelight = NextLimelight("limelight")

Java

// Using your configuration name
NextLimelight limelight = new NextLimelight("limelight");

Usage

startReading(pipeline, hz)

Sets the poll rate and pipeline, then starts polling, all in one call.

Kotlin

limelight.startReading(pipeline = 0, hz = 100)

Java

limelight.startReading(0, 100);

getDistance(unit, id)

Returns the straight-line distance (hypotenuse) from the robot to the AprilTag for the matching id (or any visible tag if id is null), in the given unit or null if no valid tag is available.

Kotlin

val distance = limelight.getDistance(id = 7) //Defaults to Inches
if (distance != null) {
    // ...
}

Java

Distance distance = limelight.getDistance(Inches.INSTANCE, 7); //Defaults to Inches
if (distance != null) {
    // ...
}

getPose()

Returns the robot’s field position in FTC coordinates, or null if no valid pose is available.

Kotlin

val pose = limelight.getPose()
if (pose != null) {
    // ...
}

Java

Pose2d pose = limelight.getPose();
if (pose != null) {
    // ...
}

getPedroPose()

Returns the robot’s field position in Pedro coordinates, or null if no valid pose is available.

Kotlin

val pose = limelight.getPedroPose()
if (pose != null) {
    // ...
}

Java

Pose2d pose = limelight.getPedroPose();
if (pose != null) {
    // ...
}