Package frc.robot.vision

Class Limelight2

java.lang.Object

frc.robot.vision.Limelight2

public class Limelight2
extends java.lang.Object

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	Limelight2.CameraMode
static class	Limelight2.LEDMode

Field Summary

Fields

Modifier and Type	Field	Description
int	users

Method Summary

Modifier and Type	Method	Description
void	enableVision(boolean on)	Switch between vision and driver mode
double	getArea()	Get target area [0% to 100%]
static Limelight2	getInstance()
Limelight2.LEDMode	getLEDMode()
double	getSkew()	Get target skew / rotation [-90 to 0 degrees]
LimelightTarget	getTarget()	Get the current target, or null if no target
double	getXAngle()	Get horizontal target angle [from -29.8 t0 29.8 degrees]
double	getYAngle()	Get horizontal target angle [from -24.85 to 24.85 degrees]
boolean	hasTarget()	Does the limelight have a target in sight?
void	setCamMode(Limelight2.CameraMode mode)	Set the camera stream mode
void	setLED(Limelight2.LEDMode mode)	Set the limelight LED mode
void	setPipeline(int pipelineID)	Set vision pipeline ID
void	setPortrait(boolean isPortrait)	Set camera portrait mode
void	use(boolean use)

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

users

public int users

Method Detail

getInstance

public static Limelight2 getInstance()

use

public void use(boolean use)

hasTarget

public boolean hasTarget()

Does the limelight have a target in sight?

Returns:

Has target

getTarget

public LimelightTarget getTarget()

Get the current target, or null if no target

Returns:

Current target

getLEDMode

public Limelight2.LEDMode getLEDMode()

getXAngle

public double getXAngle()

Get horizontal target angle [from -29.8 t0 29.8 degrees]

Returns:

Target angle

getYAngle

public double getYAngle()

Get horizontal target angle [from -24.85 to 24.85 degrees]

Returns:

Target angle

getArea

public double getArea()

Get target area [0% to 100%]

Returns:

Target area

getSkew

public double getSkew()

Get target skew / rotation [-90 to 0 degrees]

Returns:

Target skew

setPortrait

public void setPortrait(boolean isPortrait)

Set camera portrait mode

Parameters:

isPortrait - Is camera in portrait mode?

setLED

public void setLED(Limelight2.LEDMode mode)

Set the limelight LED mode

Parameters:

mode - LED mode

enableVision

public void enableVision(boolean on)

Switch between vision and driver mode

Parameters:

on - Should be vision tracking?

setPipeline

public void setPipeline(int pipelineID)

Set vision pipeline ID

Parameters:

pipelineID - Pipeline ID

setCamMode

public void setCamMode(Limelight2.CameraMode mode)

Set the camera stream mode

Parameters:

mode - Stream mode