Package limelight.networktables

Class LimelightSettings

java.lang.Object

limelight.networktables.LimelightSettings

public class LimelightSettings
extends Object

Settings class to apply configurable options to the Limelight

These settings are sent from the roboRIO back to the Limelight to affect the LL.

One or more chains of ".withXXXX" methods can change the LL settings. The action of each ".withXXXX" method is essentially immediate, however, some slight delay is possible and the save() method will immediately save any settings that had not yet been saved.

Initially, at constructor time, settings are fetched from the LL, however, there is no provision to programatically access those values - they are dead, useless.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	LimelightSettings.DownscalingOverride	Downscaling Override Enum for Limelight
static enum	LimelightSettings.ImuMode	IMU Mode Enum for the Limelight
static enum	LimelightSettings.LEDMode	LED Mode for the Limelight.
static enum	LimelightSettings.StreamMode	Stream mode for the Limelight

Constructor Summary

Constructors

Constructor	Description
LimelightSettings(Limelight camera)	Create a LimelightSettings object with all configurable features of a Limelight.

Method Summary

Modifier and Type	Method	Description
void	save()	Push any pending changes to the NetworkTable instance immediately.
LimelightSettings	withAprilTagOffset(Translation3d offset)	Set the offset from the AprilTag that is of interest.
LimelightSettings	withArilTagIdFilter(List<Double> idFilter)	Set the Limelight AprilTagID filter/override of which to track.
LimelightSettings	withCameraOffset(Pose3d offset)	Set the Limelight offset.
LimelightSettings	withCropWindow(double minX, double maxX, double minY, double maxY)	Sets the crop window for the camera.
LimelightSettings	withFiducialDownscalingOverride(LimelightSettings.DownscalingOverride downscalingOverride)	Sets the downscaling factor for AprilTag detection.
LimelightSettings	withImuMode(LimelightSettings.ImuMode mode)	Set the IMU Mode based on the LimelightSettings.ImuMode enum.
LimelightSettings	withLimelightLEDMode(LimelightSettings.LEDMode mode)	Set the Limelight LimelightSettings.LEDMode.
LimelightSettings	withPipelineIndex(int index)	Set the current pipeline index for the Limelight
LimelightSettings	withPriorityTagId(int aprilTagId)	Set the Priority Tag ID for Limelight
LimelightSettings	withRobotOrientation(Orientation3d orientation)	Set the current robot Orientation3d (normally given by the robot gyro) for LL to use in its MegaTag2 determination.
LimelightSettings	withStreamMode(LimelightSettings.StreamMode mode)	Set the Stream mode based on the LimelightSettings.StreamMode enum

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

LimelightSettings

public LimelightSettings(Limelight camera)

Create a LimelightSettings object with all configurable features of a Limelight.

Parameters:

camera - Limelight to use.

Method Details

withLimelightLEDMode

public LimelightSettings withLimelightLEDMode(LimelightSettings.LEDMode mode)

Set the Limelight LimelightSettings.LEDMode.

This method changes the Limelight - normally immediately.

Parameters:

mode - LimelightSettings.LEDMode enum

Returns:

LimelightSettings for chaining.

withPipelineIndex

public LimelightSettings withPipelineIndex(int index)

Set the current pipeline index for the Limelight

This method changes the Limelight - normally immediately.

Parameters:

index - Pipeline index to use.

Returns:

LimelightSettings

withPriorityTagId

public LimelightSettings withPriorityTagId(int aprilTagId)

Set the Priority Tag ID for Limelight

This method changes the Limelight - normally immediately.

Parameters:

aprilTagId - AprilTag ID to set as a priority.

Returns:

LimelightSettings for chaining.

withStreamMode

public LimelightSettings withStreamMode(LimelightSettings.StreamMode mode)

Set the Stream mode based on the LimelightSettings.StreamMode enum

This method changes the Limelight - normally immediately.

Parameters:

mode - LimelightSettings.StreamMode to use.

Returns:

LimelightSettings for chaining.

withCropWindow

public LimelightSettings withCropWindow(double minX,
 double maxX,
 double minY,
 double maxY)

Sets the crop window for the camera. The crop window in the UI must be completely open.

This method changes the Limelight - normally immediately.

Parameters:

minX - Minimum X value (-1 to 1)

maxX - Maximum X value (-1 to 1)

minY - Minimum Y value (-1 to 1)

maxY - Maximum Y value (-1 to 1)

Returns:

LimelightSettings for chaining.

withImuMode

public LimelightSettings withImuMode(LimelightSettings.ImuMode mode)

Set the IMU Mode based on the LimelightSettings.ImuMode enum.

This method changes the Limelight - normally immediately.

Parameters:

mode - LimelightSettings.ImuMode to use.

Returns:

LimelightSettings for chaining.

withRobotOrientation

public LimelightSettings withRobotOrientation(Orientation3d orientation)

Set the current robot Orientation3d (normally given by the robot gyro) for LL to use in its MegaTag2 determination.

This method changes the Limelight - normally immediately.

Parameters:

orientation - Orientation3d object to set the current orientation to.

Returns:

LimelightSettings for chaining.

withFiducialDownscalingOverride

public LimelightSettings withFiducialDownscalingOverride(LimelightSettings.DownscalingOverride downscalingOverride)

Sets the downscaling factor for AprilTag detection. Increasing downscale can improve performance at the cost of potentially reduced detection range.

This method changes the Limelight - normally immediately.

Parameters:

downscalingOverride - Downscale factor. Valid values: 1.0 (no downscale), 1.5, 2.0, 3.0, 4.0. Set to 0 for pipeline control.

Returns:

LimelightSettings for chaining.

withAprilTagOffset

public LimelightSettings withAprilTagOffset(Translation3d offset)

Set the offset from the AprilTag that is of interest. More information here. Docs page

This method changes the Limelight - normally immediately.

Parameters:

offset - Translation3d offset.

Returns:

LimelightSettings for chaining.

withArilTagIdFilter

public LimelightSettings withArilTagIdFilter(List<Double> idFilter)

Set the Limelight AprilTagID filter/override of which to track.

This method changes the Limelight - normally immediately.

Parameters:

idFilter - Array of AprilTag ID's to track

Returns:

LimelightSettings for chaining.

withCameraOffset

public LimelightSettings withCameraOffset(Pose3d offset)

Set the Limelight offset.

This method changes the Limelight - normally immediately.

Parameters:

offset - Pose3d of the Limelight with the Rotation3d set in Meters.

Returns:

LimelightSettings for chaining.

save

public void save()

Push any pending changes to the NetworkTable instance immediately.

This method changes the Limelight immediately.

Most setting changes are done essentially immediately and this method isn't needed but does no harm to assure changes.