Limelight Lib (WPILib Java & C++)
- https://github.com/LimelightVision/limelightlib-wpijava
- https://github.com/LimelightVision/limelightlib-wpicpp
Usage
This is a single-file library. All you need to do is copy the LimelightHelpers.java file from the latest release (https://github.com/LimelightVision/limelightlib-wpijava/releases) into your Java project's "robot" folder. You don't need to create any objects for your Limelights - the library is designed to be used in a functional manner.
Basic Usage
Every method in Limelightlib accepts a string parameter indicating the correct Limelight to use. If left blank or null, the name is assumed to be "limelight"
LimelightHelpers.setLEDMode_PipelineControl("");
LimelightHelpers.setLEDMode_ForceBlink("")
LimelightHelpers.setCropWindow("",-1,1,-1,1);
double tx = LimelightHelpers.getTX("");
JSON Parsing
getLatestResults() parses the latest Limelight JSON dump into a LimelightResults object. Takes up to 2.5ms on RoboRIO 1.0. Parsing latency is logged in results.targetingresults.latency_jsonParse and may be added to latency_pipeline and latency_capture.
LimelightHelpers.LimelightResults llresults = LimelightHelpers.getLatestResults("");
Each LimelightResults instance contains a Results object. Each Results object contains data such as botpose, an array for each target type, etc. With getLatestResults(), you now have easy access to 100% of your Limelight's output.
double[] botposeRed = llresults.results.botpose_wpired;
double pipelineLatency = llresults.results.latency_pipeline;
LimelightHelpers.LimelightTarget_Fiducial = llresults.results.targets_Fiducials;
Taking snapshots
LimelightHelpers.takeSnapshot("","snapshotname");
Pose Estimation
LimelightHelpers.PoseEstimate limelightMeasurement = LimelightHelpers.getBotPoseEstimate_wpiBlue("limelight");
if(limelightMeasurement.tagCount >= 2)
{
m_poseEstimator.setVisionMeasurementStdDevs(VecBuilder.fill(.7,.7,9999999));
m_poseEstimator.addVisionMeasurement(
limelightMeasurement.pose,
limelightMeasurement.timestampSeconds);
}
Classes
LimelightHelpers.LimelightTarget_Retro
LimelightHelpers.LimelightTarget_Fiducial
LimelightHelpers.LimelightTarget_Barcode
LimelightHelpers.LimelightTarget_Classifier
LimelightHelpers.LimelightTarget_Detector
LimelightHelpers.Results
LimelightHelpers.LimelightResults
LimelightHelpers.PoseEstimate
(Pure Static) LimelightHelpers
LimelightHelpers Methods
getLimelightNTTable()
getLimelightNTTableEntry()
getLimelightNTDouble()
setLimelightNTDouble()
setLimelightNTDoubleArray()
getLimelightNTDouleArray()
getLimelightNTString()
getLimelightURLString()
getTX()
getTY()
getTA()
getLatency_Pipeline()
getLatency_Capture()
getCurrentPipelineIndex()
getJsonDump()
getBotpose()
getBotpose_wpiRed()
getBotpose_wpiBlue()
getBotPoseEstimate_wpiBlue()
getBotPoseEstimate_wpiRed()
getBotpose_TargetSpace()
getCameraPsoe_TargetSpace()
getTargetPose_CameraSpace()
getTargetPose_RobotSpace()
getTargetColor()
getFiducialID()
getNeuralClassID()
setPipelineIndex()
setPriorityID()
setLEDMode_PipelineControl()
setLEDMode_ForceOff()
setLEDMode_ForceBlink()
setLEDMode_ForceOn()
setStreamMode_Standard()
setStreamMode_PiPMain()
setStreamMode_PiPSecondary()
setCropWindow()
setPythonScriptData()
getPythonScriptData()