Complete NetworkTables API¶
“Best” Contour information:
Use the following code:
NetworkTableInstance.getDefault().getTable("limelight").getEntry("<variablename>").getDouble(0);
nt::NetworkTableInstance::GetDefault().GetTable("limelight")->GetNumber("<variablename>",0.0);
NetworkTables.getTable("limelight").getNumber('<variablename>');
to retrieve this data:
| tv | Whether the limelight has any valid targets (0 or 1) |
| tx | Horizontal Offset From Crosshair To Target (LL1: -27 degrees to 27 degrees | LL2: -29.8 to 29.8 degrees) |
| ty | Vertical Offset From Crosshair To Target (LL1: -20.5 degrees to 20.5 degrees | LL2: -24.85 to 24.85 degrees) |
| ta | Target Area (0% of image to 100% of image) |
| ts | Skew or rotation (-90 degrees to 0 degrees) |
| tl | The pipeline’s latency contribution (ms) Add at least 11ms for image capture latency. |
| tshort | Sidelength of shortest side of the fitted bounding box (pixels) |
| tlong | Sidelength of longest side of the fitted bounding box (pixels) |
| thor | Horizontal sidelength of the rough bounding box (0 - 320 pixels) |
| tvert | Vertical sidelength of the rough bounding box (0 - 320 pixels) |
| getpipe | True active pipeline index of the camera (0 .. 9) |
| camtran | Results of a 3D position solution, NumberArray: Translation (x,y,z) Rotation(pitch,yaw,roll) |
| tc | Get the average HSV color underneath the crosshair region as a NumberArray |
Camera Controls¶
Use the following code:
NetworkTableInstance.getDefault().getTable("limelight").getEntry("<variablename>").setNumber(<value>);
nt::NetworkTableInstance::GetDefault().GetTable("limelight")->PutNumber("<variablename>",<value>);
NetworkTables.getTable("limelight").putNumber('<variablename>',<value>);
to set this data:
| ledMode | Sets limelight’s LED state |
| 0 | use the LED Mode set in the current pipeline |
| 1 | force off |
| 2 | force blink |
| 3 | force on |
| camMode | Sets limelight’s operation mode |
| 0 | Vision processor |
| 1 | Driver Camera (Increases exposure, disables vision processing) |
| pipeline | Sets limelight’s current pipeline |
| 0 .. 9 | Select pipeline 0..9 |
| stream | Sets limelight’s streaming mode |
| 0 | Standard - Side-by-side streams if a webcam is attached to Limelight |
| 1 | PiP Main - The secondary camera stream is placed in the lower-right corner of the primary camera stream |
| 2 | PiP Secondary - The primary camera stream is placed in the lower-right corner of the secondary camera stream |
| snapshot | Allows users to take snapshots during a match |
| 0 | Reset snapshot mode |
| 1 | Take exactly one snapshot |
| crop | Sets the crop rectangle. The pipeline must utilize the default crop rectangle in the web interface. The array must have exactly 4 entries. |
| [0] | X0 - Min or Max X value of crop rectangle (-1 to 1) |
| [1] | X1 - Min or Max X value of crop rectangle (-1 to 1) |
| [2] | Y0 - Min or Max Y value of crop rectangle (-1 to 1) |
| [3] | Y1 - Min or Max Y value of crop rectangle (-1 to 1) |
Python¶
Python scripts allow for arbitrary inbound and outbound data.
| llpython | NumberArray sent by python scripts. This is accessible from robot code. |
| llrobot | NumberArray sent by the robot. This is accessible from python scripts. |
Corners¶
Enable “send contours” in the “Output” tab to stream corner coordinates:
| tcornxy | Number array of corner coordinates [x0,y0,x1,y1……] |
Advanced Usage with Raw Contours¶
Raw Targets:
Limelight posts three raw contours to NetworkTables that are not influenced by your grouping mode. That is, they are filtered with your pipeline parameters, but never grouped. X and Y are returned in normalized screen space (-1 to 1) rather than degrees.
| tx0 | Raw Screenspace X |
| ty0 | Raw Screenspace Y |
| ta0 | Area (0% of image to 100% of image) |
| ts0 | Skew or rotation (-90 degrees to 0 degrees) |
| tx1 | Raw Screenspace X |
| ty1 | Raw Screenspace Y |
| ta1 | Area (0% of image to 100% of image) |
| ts1 | Skew or rotation (-90 degrees to 0 degrees) |
| tx2 | Raw Screenspace X |
| ty2 | Raw Screenspace Y |
| ta2 | Area (0% of image to 100% of image) |
| ts2 | Skew or rotation (-90 degrees to 0 degrees) |
Raw Crosshairs:
If you are using raw targeting data, you can still utilize your calibrated crosshairs:
| cx0 | Crosshair A X in normalized screen space |
| cy0 | Crosshair A Y in normalized screen space |
| cx1 | Crosshair B X in normalized screen space |
| cy1 | Crosshair B Y in normalized screen space |