Before An Event¶
- Download and backup all pipelines to your programming laptop.
- Download a copy of the latest Limelight image to your programming laptop.
- Record a list of your pipelines and their indicies.
- 1 - Dual Target Low
- 2 - Dual Target High Cargo
- Add strain reliefs to all power and ethernet cables going to your LL.
- Consider hot-gluing all connections.
During Event Calibration¶
- Roll your robot to each target on the field.
- Make sure your thresholding is working properly. Switch to the “threshold” view during this process (located under the image stream).
- Roll your robot close to the target, and far away from the target. Ensure crosshairs are calibrated properly.
- While far away from the target, rotate your robot left and right ~ 30 degrees to ensure that other targets will not be erroneously tracked.
- See the tuning section below for more tuning tips.
- Ensure no other field / arena elements are being accidentally tracked. Check your area and aspect ratio filters if you are picking up arena lights.
- Take snapshots of all targets and erroneous targeting. You can use these to tune your pipelines in the pits.
- Use the lowest exposure possible, and increase black level offset until field lights and LED reflections are removed from the image.
- Test your thresholding while far away and angled away from your target.
- Use 2019.7’s “Smart Speckle Rejection” to filter unwanted LED reflections
Before Connecting to the Field¶
- Give your laptop a static IP configuration.
- IP: 10.TE.AM.5
- Subnet Mask: 255.0.0.0
- Gateway: 10.TE.AM.1
- Give your RIO a static IP configuration.
- IP: “10.TE.AM.2”
- Subnet Mask: 255.255.255.0 <- NOTE THE DIFFERENCE HERE
- Gateway: 10.TE.AM.1
- Give your Limelights unique hostnames (if using multiple).
- Give your Limelights unique static IP configurations.
- Always start with “.11” addresses and go upward. (10.9.87.11, etc.)
- The use of other addresses may cause your units to malfunction when connected to the FMS.
- IP: “10.TE.AM.11”
- Subnet mask: 255.255.255.0
- Gateway: “10.TE.AM.1”
Before Every Match¶
- Check all power and Ethernet cables going to your Limelights.
- Check all electrical connections for looseness and frayed wires.
- Check all mounting screws / zipties / tape.
- Observe ESD precautions at all times.
- Some teams run two Limelights with two USB cameras while staying well under under the bandwidth limit. Follow the steps below to reduce bandwidth.
- Rather than using driver mode, create a “driver” pipeline. Turn down the exposure to reduce stream bandwidth.
- Using a USB camera? Use the “stream” NT key to enable picture-in-picture mode. This will dramatically reduce stream bandwidth.
- Turn the stream rate to “low” in the settings page if streaming isn’t critical for driving.
- Use the 160x120 stream option introduced in 2019.7.
- Try to access the stream at <IP>:5800 with a web browser. This should help you determine the root of your issues.
- Restart your dashboard
- Reboot your computer
- Reboot your robot if the field has been reset
- Broken Ethernet cables can be the cause of intermittent networking issues.
- Always use static IP configurations on the field.