Package limelight.networktables

Class LimelightResults

java.lang.Object
limelight.networktables.LimelightResults
public class LimelightResults extends Object
Limelight Results object, parsed from a Limelight's JSON limelight.results output.

  • Field Details

    • error

      public String error
      Error message, if any.

    • pipelineID

      public double pipelineID
      Current pipeline index

    • latency_pipeline

      public double latency_pipeline
      Targeting latency (milliseconds consumed by tracking loop this frame)

    • latency_capture

      public double latency_capture
      Capture latency (milliseconds between the end of the exposure of the middle row to the beginning of the tracking loop)

    • latency_jsonParse

      public double latency_jsonParse

    • timestamp_LIMELIGHT_publish

      public double timestamp_LIMELIGHT_publish
      Timestamp in milliseconds from boot.

    • timestamp_RIOFPGA_capture

      public double timestamp_RIOFPGA_capture

    • valid

      public boolean valid
      Validity indicator. 1 = valid targets, 0 = no valid targets

    • botpose

      public double[] botpose
      Botpose (MegaTag): x,y,z, roll, pitch, yaw (meters, degrees)

    • botpose_wpired

      public double[] botpose_wpired
      Botpose (MegaTag, WPI Red driverstation): x,y,z, roll, pitch, yaw (meters, degrees)

    • botpose_wpiblue

      public double[] botpose_wpiblue
      Botpose (MegaTag, WPI Blue driverstation): x,y,z, roll, pitch, yaw (meters, degrees)

    • botpose_tagcount

      public double botpose_tagcount
      Number of tags used to compute botpose

    • botpose_span

      public double botpose_span
      Max distance between tags used to compute botpose (meters)

    • botpose_avgdist

      public double botpose_avgdist
      Max distance between tags used to compute botpose (meters)

    • botpose_avgarea

      public double botpose_avgarea
      Average area of tags used to compute botpose

    • camerapose_robotspace

      public double[] camerapose_robotspace

    • targets_Retro

      public RetroreflectiveTape[] targets_Retro
      Color/Retroreflective pipeline results array

    • targets_Fiducials

      public AprilTagFiducial[] targets_Fiducials
      AprilTag pipeline results array

    • targets_Classifier

      public NeuralClassifier[] targets_Classifier
      Classifier pipeline results array

    • targets_Detector

      public NeuralDetector[] targets_Detector
      Neural Detector pipeline results array

    • targets_Barcode

      public Barcode[] targets_Barcode
      Barcode pipeline results array

  • Constructor Details

    • LimelightResults

      public LimelightResults()
      Construct a LimelightResults object for JSON Parsing.

  • Method Details

    • getBotPose3d

      public Pose3d getBotPose3d()
      Get the current botpose as a Pose3d object.
      Returns:
      Pose3d object representing the botpose.

    • getBotPose3d

      public Pose3d getBotPose3d(DriverStation.Alliance alliance)
      Get the current botpose as a Pose3d object.
      Parameters:
      alliance - Alliance color to get the botpose for.
      Returns:
      Pose3d object representing the botpose.

    • getBotPose2d

      public Pose2d getBotPose2d()
      Get the current botpose as a Pose2d object.
      Returns:
      Pose2d object representing the botpose.

    • getBotPose2d

      public Pose2d getBotPose2d(DriverStation.Alliance alliance)
      Get the current botpose as a Pose2d object.
      Parameters:
      alliance - Alliance color to get the botpose for.
      Returns:
      Pose2d object representing the botpose.

    • toString

      public String toString()
      Commonly used but very incomplete set from JSON key from the LL
      Overrides:
      toString in class Object