Malefix/xyz.malefic.frc.vision/LimeModule

LimeModule

class LimeModule(val name: String) : Camera

The LimeModule class represents a Limelight camera with NetworkTables integration.

Provides access to Limelight data including target detection, pose estimation, and camera configuration via NetworkTables. Implements the Camera interface for unified vision system integration.

Usage Example:

val limelight = LimeModule("limelight")

limelight.configure {
    ledMode = LimeModule.LEDMode.OFF
    camMode = LimeModule.CamMode.VISION
    pipeline = 0
}

// Get latest measurement
val measurement = limelight.getLatestMeasurement()
measurement?.let { swerveDrive.addVisionMeasurement(it.pose, it.timestampSeconds, it.stdDevs) }

Constructors

constructor(name: String)

Types

enum CamMode : Enum<LimeModule.CamMode>

Camera operating modes for Limelight.

data class Config(var ledMode: LimeModule.LEDMode = LEDMode.PIPELINE, var camMode: LimeModule.CamMode = CamMode.VISION, var pipeline: Int = 0, var stream: LimeModule.StreamMode = StreamMode.STANDARD)

Configuration for the Limelight.

enum LEDMode : Enum<LimeModule.LEDMode>

LED operating modes for Limelight.

enum StreamMode : Enum<LimeModule.StreamMode>

Streaming modes for multiple Limelights.

Properties

open override val name: String

The name of the Limelight in NetworkTables (e.g., "limelight").

Functions

fun configure(block: LimeModule.Config.() -> Unit)

Configures the Limelight using a DSL-style configuration block.

getAllUnreadMeasurements

open override fun getAllUnreadMeasurements(): List<VisionMeasurement>

Gets all unprocessed vision measurements since the last call.

fun getAprilTagId(): Int?

Gets the ID of the primary AprilTag in view.

fun getBotPose(): Pose2d?

Gets the robot's 2D pose in field space using MegaTag (botpose).

fun getBotPose3d(): Pose3d?

Gets the robot's 3D pose in field space using MegaTag (botpose).

fun getBotPoseBlue(): Pose2d?

Gets the robot's 2D pose in field space using MegaTag with blue alliance origin.

fun getBotPoseRed(): Pose2d?

Gets the robot's 2D pose in field space using MegaTag with red alliance origin.

fun getCameraPose(): Transform3d?

Gets the camera's 3D pose in robot space.

getDistanceToTag

open override fun getDistanceToTag(tagId: Int?): Distance?

Gets the distance to a tag.

fun getLatency(): Double

Gets the total latency in seconds (for use with pose estimators).

getLatencyCapture

fun getLatencyCapture(): Double

Gets the total latency (pipeline + capture) in milliseconds.

getLatencyPipeline

fun getLatencyPipeline(): Double

Gets the pipeline's latency contribution in milliseconds.

getLatestMeasurement

open override fun getLatestMeasurement(referencePose: Pose2d?): VisionMeasurement?

Gets the latest vision measurement from the camera.

fun getTa(): Double

Gets the target area as a percentage of the image.

getTargetHorizontalOffset

open override fun getTargetHorizontalOffset(): Angle?

Gets the horizontal offset to the currently tracked target.

getTargetPoseCameraSpace

fun getTargetPoseCameraSpace(): Transform3d?

Gets the target's 3D pose in camera space.

getTargetPoseRobotSpace

fun getTargetPoseRobotSpace(): Transform3d?

Gets the target's 3D pose in robot space.

getTargetVerticalOffset

open override fun getTargetVerticalOffset(): Angle?

Gets the vertical offset to the currently tracked target.

fun getTs(): Double

Gets the target skew or rotation in degrees.

fun getTx(): Double

Gets the horizontal offset from crosshair to target in degrees.

fun getTy(): Double

Gets the vertical offset from crosshair to target in degrees.

open override fun hasTarget(): Boolean

Checks if the camera currently sees any valid targets.

fun setCamMode(mode: LimeModule.CamMode)

Sets the camera operating mode.

fun setLEDMode(mode: LimeModule.LEDMode)

Sets the LED operating mode.

fun setPipeline(pipeline: Int)

Sets the active vision pipeline.

fun setStreamMode(mode: LimeModule.StreamMode)

Sets the streaming mode.

fun takeSnapshot()

Takes a snapshot with the current settings.