Package io.github.frc5024.lib5k.hardware.limelightvision

Class BaseLimeLight

java.lang.Object

io.github.frc5024.lib5k.hardware.limelightvision.BaseLimeLight

All Implemented Interfaces:

Sendable

Direct Known Subclasses:

LimeLight1, LimeLight2

public abstract class BaseLimeLight
extends java.lang.Object
implements Sendable

The base for interaction with LimeLight products. Following this specification: https://docs.limelightvision.io/en/latest/networktables_api.html

Constructor Summary

Constructors

Constructor	Description
BaseLimeLight(NetworkTable remoteTable, java.lang.String ipAddress, double maxXAngleDegrees, double maxYAngleDegrees)	Create a BaseLimeLight

Method Summary

Modifier and Type	Method	Description
void	enableSnapshots(boolean enabled)	Set if the camera should be saving a frame once every 2 seconds to internal storage.
int	getActivePipelineID()	Get the ID of the currently active image processing pipeline on-device
double	getImageProcessingLatencyMS()	Get the number of MS of latency the camera takes to process an image
HyperbolicAxisAlignedBoundingBox	getTargetBoundsOrNull()	Get the bounding box for the LimeLight target, or NULL if no target is found
boolean	hasTarget()	Check if the LimeLight can see its target
void	initSendable(SendableBuilder builder)
void	portForwardCameraStream(int localPort)	Port-forward the camera stream through the RoboRIO
void	setActivePipeline(int id)	Switch to a new image processing pipeline
void	setLEDMode(LimeLightLEDMode mode)	Set the LimeLight LED mode
void	setOperationMode(LimeLightOperationMode mode)	Set the camera operation mode
void	setStreamMode(LimeLightStreamMode mode)	Set the streaming mode

Methods inherited from class java.lang.Object

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

Methods inherited from interface edu.wpi.first.wpilibj.Sendable

addChild, getName, getSubsystem, setName, setName, setName, setName, setSubsystem

Constructor Detail

BaseLimeLight

public BaseLimeLight(NetworkTable remoteTable,
                     java.lang.String ipAddress,
                     double maxXAngleDegrees,
                     double maxYAngleDegrees)

Create a BaseLimeLight

Parameters:

remoteTable - Device NT table

ipAddress - Device IP address

maxXAngleDegrees - Maximum X angle of the camera lense

maxYAngleDegrees - Maximum Y angle of the camera lense

Method Detail

portForwardCameraStream

public void portForwardCameraStream(int localPort)

Port-forward the camera stream through the RoboRIO

Parameters:

localPort - RoboRIO port to forward through

hasTarget

public boolean hasTarget()

Check if the LimeLight can see its target

Returns:

Can see target?

getTargetBoundsOrNull

@CheckForNull
public HyperbolicAxisAlignedBoundingBox getTargetBoundsOrNull()

Get the bounding box for the LimeLight target, or NULL if no target is found

Returns:

HyperbolicAxisAlignedBoundingBox or NULL

getImageProcessingLatencyMS

public double getImageProcessingLatencyMS()

Get the number of MS of latency the camera takes to process an image

Returns:

Latency in MS

getActivePipelineID

public int getActivePipelineID()

Get the ID of the currently active image processing pipeline on-device

Returns:

Current image pipeline ID

setActivePipeline

public void setActivePipeline(int id)

Switch to a new image processing pipeline

Parameters:

id - Pipeline ID

setLEDMode

public void setLEDMode(LimeLightLEDMode mode)

Set the LimeLight LED mode

Parameters:

mode - LED mode

setOperationMode

public void setOperationMode(LimeLightOperationMode mode)

Set the camera operation mode

Parameters:

mode - Operation mode

setStreamMode

public void setStreamMode(LimeLightStreamMode mode)

Set the streaming mode

Parameters:

mode - Streaming mode

enableSnapshots

public void enableSnapshots(boolean enabled)

Set if the camera should be saving a frame once every 2 seconds to internal storage. Useful for critical gameplay review

Parameters:

enabled - Enable snapshots

initSendable

public void initSendable(SendableBuilder builder)

Specified by:

initSendable in interface Sendable