2024Crescendo/lib.vision/LimelightHelpers

LimelightHelpers

open class LimelightHelpers

Constructors

LimelightHelpers

constructor()

Types

LimelightResults

open class LimelightResults

LimelightTarget_Barcode

open class LimelightTarget_Barcode

LimelightTarget_Classifier

open class LimelightTarget_Classifier

LimelightTarget_Detector

open class LimelightTarget_Detector

LimelightTarget_Fiducial

open class LimelightTarget_Fiducial

LimelightTarget_Retro

open class LimelightTarget_Retro

PoseEstimate

open class PoseEstimate

Results

open class Results

Functions

getBotPose

open fun getBotPose(limelightName: String): Array<Double>

getBotpose

open fun ~~getBotpose~~(limelightName: String): Array<Double>

Switch to getBotPose

getBotPose2d

open fun getBotPose2d(limelightName: String): Pose2d

Gets the Pose2d for easy use with Odometry vision pose estimator (addVisionMeasurement)

getBotPose2d_wpiBlue

open fun getBotPose2d_wpiBlue(limelightName: String): Pose2d

Gets the Pose2d for easy use with Odometry vision pose estimator (addVisionMeasurement)

getBotPose2d_wpiRed

open fun getBotPose2d_wpiRed(limelightName: String): Pose2d

Gets the Pose2d for easy use with Odometry vision pose estimator (addVisionMeasurement)

getBotPose3d

open fun getBotPose3d(limelightName: String): Pose3d

getBotPose3d_TargetSpace

open fun getBotPose3d_TargetSpace(limelightName: String): Pose3d

getBotPose3d_wpiBlue

open fun getBotPose3d_wpiBlue(limelightName: String): Pose3d

getBotPose3d_wpiRed

open fun getBotPose3d_wpiRed(limelightName: String): Pose3d

getBotPose_TargetSpace

open fun getBotPose_TargetSpace(limelightName: String): Array<Double>

getBotPose_wpiBlue

open fun getBotPose_wpiBlue(limelightName: String): Array<Double>

getBotpose_wpiBlue

open fun ~~getBotpose_wpiBlue~~(limelightName: String): Array<Double>

Switch to getBotPose_wpiBlue

getBotPose_wpiRed

open fun getBotPose_wpiRed(limelightName: String): Array<Double>

getBotpose_wpiRed

open fun ~~getBotpose_wpiRed~~(limelightName: String): Array<Double>

Switch to getBotPose_wpiRed

getBotPoseEstimate_wpiBlue

open fun getBotPoseEstimate_wpiBlue(limelightName: String): LimelightHelpers.PoseEstimate

Gets the Pose2d and timestamp for use with WPILib pose estimator (addVisionMeasurement) when you are on the BLUE alliance

getBotPoseEstimate_wpiRed

open fun getBotPoseEstimate_wpiRed(limelightName: String): LimelightHelpers.PoseEstimate

Gets the Pose2d and timestamp for use with WPILib pose estimator (addVisionMeasurement) when you are on the RED alliance

getCameraPose3d_RobotSpace

open fun getCameraPose3d_RobotSpace(limelightName: String): Pose3d

getCameraPose3d_TargetSpace

open fun getCameraPose3d_TargetSpace(limelightName: String): Pose3d

getCameraPose_TargetSpace

open fun getCameraPose_TargetSpace(limelightName: String): Array<Double>

getCurrentPipelineIndex

open fun getCurrentPipelineIndex(limelightName: String): Double

getFiducialID

open fun getFiducialID(limelightName: String): Double

getJSONDump

open fun getJSONDump(limelightName: String): String

getLatency_Capture

open fun getLatency_Capture(limelightName: String): Double

getLatency_Pipeline

open fun getLatency_Pipeline(limelightName: String): Double

getLatestResults

open fun getLatestResults(limelightName: String): LimelightHelpers.LimelightResults

Parses Limelight's JSON results dump into a LimelightResults Object

getLimelightNTDouble

open fun getLimelightNTDouble(tableName: String, entryName: String): Double

getLimelightNTDoubleArray

open fun getLimelightNTDoubleArray(tableName: String, entryName: String): Array<Double>

getLimelightNTString

open fun getLimelightNTString(tableName: String, entryName: String): String

getLimelightNTTable

open fun getLimelightNTTable(tableName: String): NetworkTable

getLimelightNTTableEntry

open fun getLimelightNTTableEntry(tableName: String, entryName: String): NetworkTableEntry

getLimelightURLString

open fun getLimelightURLString(tableName: String, request: String): URL

getNeuralClassID

open fun getNeuralClassID(limelightName: String): String

getPythonScriptData

open fun getPythonScriptData(limelightName: String): Array<Double>

getTA

open fun getTA(limelightName: String): Double

getTargetColor

open fun getTargetColor(limelightName: String): Array<Double>

getTargetPose3d_CameraSpace

open fun getTargetPose3d_CameraSpace(limelightName: String): Pose3d

getTargetPose3d_RobotSpace

open fun getTargetPose3d_RobotSpace(limelightName: String): Pose3d

getTargetPose_CameraSpace

open fun getTargetPose_CameraSpace(limelightName: String): Array<Double>

getTargetPose_RobotSpace

open fun getTargetPose_RobotSpace(limelightName: String): Array<Double>

getTV

open fun getTV(limelightName: String): Boolean

getTX

open fun getTX(limelightName: String): Double

getTY

open fun getTY(limelightName: String): Double

setCameraMode_Driver

open fun setCameraMode_Driver(limelightName: String)

setCameraMode_Processor

open fun setCameraMode_Processor(limelightName: String)

setCameraPose_RobotSpace

open fun setCameraPose_RobotSpace(limelightName: String, forward: Double, side: Double, up: Double, roll: Double, pitch: Double, yaw: Double)

setCropWindow

open fun setCropWindow(limelightName: String, cropXMin: Double, cropXMax: Double, cropYMin: Double, cropYMax: Double)

Sets the crop window.

setLEDMode_ForceBlink

open fun setLEDMode_ForceBlink(limelightName: String)

setLEDMode_ForceOff

open fun setLEDMode_ForceOff(limelightName: String)

setLEDMode_ForceOn

open fun setLEDMode_ForceOn(limelightName: String)

setLEDMode_PipelineControl

open fun setLEDMode_PipelineControl(limelightName: String)

The LEDs will be controlled by Limelight pipeline settings, and not by robot code.

setLimelightNTDouble

open fun setLimelightNTDouble(tableName: String, entryName: String, val: Double)

setLimelightNTDoubleArray

open fun setLimelightNTDoubleArray(tableName: String, entryName: String, val: Array<Double>)

setPipelineIndex

open fun setPipelineIndex(limelightName: String, pipelineIndex: Int)

setPriorityTagID

open fun setPriorityTagID(limelightName: String, ID: Int)

setPythonScriptData

open fun setPythonScriptData(limelightName: String, outgoingPythonData: Array<Double>)

setStreamMode_PiPMain

open fun setStreamMode_PiPMain(limelightName: String)

setStreamMode_PiPSecondary

open fun setStreamMode_PiPSecondary(limelightName: String)

setStreamMode_Standard

open fun setStreamMode_Standard(limelightName: String)

takeSnapshot

open fun takeSnapshot(tableName: String, snapshotName: String): CompletableFuture<Boolean>

Asynchronously take snapshot.