SwoLib/cshcyberhawks.swolib.limelight/Limelight

Limelight

class Limelight(val name: String, cameraHeight: Double, var cameraAngle: Double = 0.0, ip: String, cameraDistance: Double = 0.0, aprilTagHeight: Double = 0.0, ledMode: LedMode = LedMode.Pipeline, cameraMode: CameraMode = CameraMode.VisionProcessor, pipeline: Int = 0, streamMode: StreamMode = StreamMode.Standard, snapshotMode: SnapshotMode = SnapshotMode.Reset, crop: Array<Number> = arrayOf(0, 0, 0, 0), val fiducialPipeline: Int = 0)

A wrapper class for the Limelight camera.

Parameters

name

The name of the Limelight.

cameraHeight

The height of the camera above the ground.

cameraAngle

The angle of the camera above the ground.

cameraDistance

The distance of the camera from the center of the robot.

aprilTagHeight

The height of the AprilTag above the ground.

ledMode

The LED mode of the Limelight.

cameraMode

The camera mode of the Limelight.

pipeline

The pipeline of the Limelight.

streamMode

The stream mode of the Limelight.

snapshotMode

The snapshot mode of the Limelight.

crop

The crop values of the Limelight.

The IP address of the Limelight.

fiducialPipeline

The pipeline of the Limelight that is used for the Fiducial.

Constructors

Limelight

constructor(name: String, cameraHeight: Double, cameraAngle: Double = 0.0, ip: String, cameraDistance: Double = 0.0, aprilTagHeight: Double = 0.0, ledMode: LedMode = LedMode.Pipeline, cameraMode: CameraMode = CameraMode.VisionProcessor, pipeline: Int = 0, streamMode: StreamMode = StreamMode.Standard, snapshotMode: SnapshotMode = SnapshotMode.Reset, crop: Array<Number> = arrayOf(0, 0, 0, 0), fiducialPipeline: Int = 0)

Functions

getBotFieldPosition

fun getBotFieldPosition(): Optional<FieldPosition>

getBotPosition

fun getBotPosition(): Optional<Vector3>

getBotYaw

fun getBotYaw(): Optional<Double>

getCamPose

fun getCamPose(): Optional<FieldPosition>

getColor

fun getColor(): Array<Number>

getColorUnderCrosshair

fun getColorUnderCrosshair(): Array<Number>

getDetectorClass

fun getDetectorClass(): Optional<Double>

getHorizontalLength

fun getHorizontalLength(): Optional<Double>

getHorizontalOffset

fun getHorizontalOffset(): Optional<Double>

getJSON

fun getJSON(): ByteArray

getLatency

fun getLatency(): Optional<Double>

getLongest

fun getLongest(): Optional<Double>

getPosition

fun getPosition(swo: SwerveOdometry, ballHeight: Double, gyro: GenericGyro): Optional<Vector2>

Get the position of the limelight's current target WITHOUT using limelight 3d positioning. Instead, this is done based on the limelight vertical and horizontal offsets.

getShortest