Inheritance diagram for valor::cameras::Limelight:

Classes
struct	TargetMetrics
	Targeting metrics of the Limelight. More...
struct	CornerCoordinates
	Structure representing coordinates of a target. More...
struct	IMUData
	IMU data of the Limelight. More...
struct	RawTarget
	Raw target result of the Limelight. More...
struct	RawFiducial
	Raw fiducial result of the Limelight. More...
struct	RawDetection
	Raw detection result of the Limelight. More...
struct	PoseEstimate
	Pose Estimate of the Limelight. More...

Public Types
enum class	Model { One , Two , TwoPlus , Three , ThreeA , ThreeG , Four }
	Model of the physical Limelight. More...
enum class	IMUMode { ExternalOnly = 0 , ExternalSeed = 1 , InternalOnly = 2 , InternalMT1Assist = 3 , InternalExternalAssist = 4 }
enum class	LEDMode { PipelineControl = 0 , ForceOff = 1 , ForceBlink = 2 , ForceOn = 3 , ForceOnLeft = 4 , ForceOnRight = 5 , BounceHalves = 6 , ForceBlinkLeft = 7 , ForceBlinkRight = 8 }
	LED mode of the Limelight. More...
enum class	StreamMode { Standard = 0 , PiPMain = 1 , PiPSecondary = 2 }
	Limelight streaming mode. More...

Public Member Functions
	Limelight (std::string_view name)
bool	GetTV () const
units::degree_t	GetTX () const
units::degree_t	GetTY () const
units::degree_t	GetTXNC () const
units::degree_t	GetTYNC () const
double	GetTA () const
TargetMetrics	GetTargetMetrics () const
int	GetTargetCount () const
int	GetClassifierClassIndex () const
int	GetDetectorClassIndex () const
std::string	GetClassifierClass () const
std::string	GetDetectorClass () const
units::millisecond_t	GetLatencyPipeline () const
units::millisecond_t	GetLatencyCapture () const
int	GetCurrentPipelineIndex () const
std::string	GetCurrentPipelineType () const
std::string	GetJSONDump () const
frc::Pose3d	GetBotPose () const
frc::Pose3d	GetBotPoseWpiRed () const
frc::Pose3d	GetBotPoseWpiBlue () const
frc::Pose3d	GetBotPoseTargetSpace () const
frc::Pose3d	GetCameraPoseTargetSpace () const
frc::Pose3d	GetCameraPoseRobotSpace () const
frc::Pose3d	GetTargetPoseCameraSpace () const
frc::Pose3d	GetTargetPoseRobotSpace () const
frc::Color	GetTargetColor () const
std::optional< int >	GetFiducialID () const
std::string	GetNeuralClassID () const
std::vector< std::string >	GetRawBarcodeData () const
int	GetHeartbeat () const
std::vector< CornerCoordinates >	GetCornerCoordinates () const
void	SetPipelineIndex (int index)
void	SetPriorityTagID (int ID)
void	SetLEDMode (LEDMode mode)
void	SetStreamMode (StreamMode mode)
void	SetCropWindow (double xMin, double xMax, double yMin, double yMax)
void	SetRobotOrientation (units::degree_t yaw, units::degrees_per_second_t yawRate, units::degree_t pitch, units::degrees_per_second_t pitchRate, units::degree_t roll, units::degrees_per_second_t rollRate, bool flush=true)
void	SetKeystone (double horizontal, double vertical)
void	SetIMUMode (IMUMode mode)
void	SetIMUAssistAlpha (double alpha)
void	SetThrottle (int throttle)
void	SetFiducial3DOffset (const frc::Translation3d &offset)
void	SetFiducialIDFiltersOverride (std::vector< int > validIDs)
void	SetFiducialDownscalingOverride (float downscale)
void	SetCameraPoseRobotSpace (const frc::Pose3d &pose)
void	SetPythonScriptData (const std::vector< double > &outgoingData)
std::vector< double >	GetPythonScriptData () const
void	TriggerSnapshot ()
void	SetRewindEnabled (bool enabled)
void	TriggerRewindCapture (units::second_t duration)
PoseEstimate	GetBotPoseEstimateWpiBlue (bool mt2) const
PoseEstimate	GetBotPoseEstimateWpiRed (bool mt2) const
std::vector< RawFiducial >	GetRawFiducials () const
std::vector< RawDetection >	GetRawDetections () const
std::vector< RawTarget >	GetRawTargets () const
IMUData	GetIMUData () const
void	SetupPortForwarding ()
LimelightHelpers::LimelightResultsClass	GetLatestResults (bool profile=false) const
void	LoggablePeriodic () override
	Periodic callback for logging updates.
Public Member Functions inherited from valor::Loggable
	Loggable (std::string_view name)
	Construct a Loggable that registers a top-level table name.
	Loggable (std::shared_ptr< nt::NetworkTable > table)
	Construct a Loggable that uses an existing NetworkTable.
	Loggable ()
	Default construct an uninitialized Loggable.
void	LogChild (std::string_view name, Loggable *child)
	Register a child Loggable under a named subtree.
void	LogChild (std::string_view name, wpi::Sendable *child)
	Register a child Sendable under a named subtree.
void	SetPeriodicLevel (LogLevel level)
	Set the logging level for LoggablePeriodic.
template<typename T>
T	WriteLog (std::string_view field, const T &data, LogLevel level=LogLevel::Normal)
	Publish a value to NetworkTables under the given field.
template<typename T>
T	ReadLog (std::string_view field, const T &defaultValue={})
	Read a value from NetworkTables for the given field.
template<>
decltype(Loggable::subscribers) ::iterator	addSubscriber (std::string_view field, const std::vector< bool > &defaultValue)
template<>
void	WriteLogImpl (nt::Publisher *pub, const std::vector< bool > &data)
template<>
std::vector< bool >	ReadLogImpl (nt::Subscriber *sub)

Static Public Member Functions
static void	SetupPortForwardingUSB (int usbIndex)
static constexpr std::pair< units::degree_t, units::degree_t >	GetFOV (Model model)
Static Public Member Functions inherited from valor::Loggable
static units::millisecond_t	GetLoggingTime ()
static constexpr Loggable &	GetRoot ()

Additional Inherited Members
Protected Member Functions inherited from valor::Loggable
virtual void	OnLoggingStart ()
	Hook invoked when logging is started for this object.

Member Enumeration Documentation

◆ IMUMode

enum class valor::cameras::Limelight::IMUMode

strong

IMU mode of the Limelight

This is typically used to determine the strategy for determining the rotation for MT2

Enumerator
ExternalOnly	Use the external IMU (robot yaw) only.
ExternalSeed	Use the external IMU (robot yaw) and seed the internal IMU.
InternalOnly	Use the internal IMU only.
InternalMT1Assist	Use the internal IMU with MT1 assisted convergence.
InternalExternalAssist	Use the internal IMU with external IMU assisted convergence.

◆ LEDMode

enum class valor::cameras::Limelight::LEDMode

strong

LED mode of the Limelight.

Enumerator
PipelineControl	Use the LED mode set in the current pipeline.
ForceOff	Force off the LEDs.
ForceBlink	Force blink the LEDs.
ForceOn	Force on the LEDs.
ForceOnLeft	Force on (left LEDs only).
ForceOnRight	Force on (right LEDs only).
BounceHalves	Bounce the halves of the LEDs.
ForceBlinkLeft	Force blink (left LEDs only).
ForceBlinkRight	Force blink (right LEDs only).

◆ Model

enum class valor::cameras::Limelight::Model

strong

Model of the physical Limelight.

Enumerator
One	Limelight 1.
Two	Limelight 2.
TwoPlus	Limelight 2+.
Three	Limelight 3.
ThreeA	Limelight 3A.
ThreeG	Limelight 3G.
Four	Limelight 4.

◆ StreamMode

enum class valor::cameras::Limelight::StreamMode

strong

Limelight streaming mode.

Enumerator
Standard	Side-by-side streams if a webcam is attached to the Limelight.
PiPMain	The secondary camera stream is placed in the lower-right corner of the primary camera stream.
PiPSecondary	The primary camera stream is placed in the lower-right corner of the secondary camera stream.

Constructor & Destructor Documentation

◆ Limelight()

valor::cameras::Limelight::Limelight ( std::string_view name )

inlineexplicit

Initialize a Limelight camera

Parameters

name	Name of the Limelight camera

Member Function Documentation

◆ GetBotPose()

frc::Pose3d valor::cameras::Limelight::GetBotPose ( ) const

inline

Gets the robot's 3D pose in field-space.

Returns: Pose3d object representing the robot's position and orientation

◆ GetBotPoseEstimateWpiBlue()

PoseEstimate valor::cameras::Limelight::GetBotPoseEstimateWpiBlue ( bool mt2 ) const

Gets the robot pose estimate in WPILib Blue Alliance field-space. This is the recommended method for getting robot pose for vision-based localization.

Parameters

mt2	Whether the estimate should be Megatag2 or Megatag1

Returns: PoseEstimate containing pose, timestamp, and tag information

See also: PoseEstimate

◆ GetBotPoseEstimateWpiRed()

PoseEstimate valor::cameras::Limelight::GetBotPoseEstimateWpiRed ( bool mt2 ) const

Gets the robot pose estimate in WPILib Red Alliance field-space.

Parameters

mt2	Whether the estimate should be Megatag2 or Megatag1

Returns: PoseEstimate containing pose, timestamp, and tag information

See also: PoseEstimate

◆ GetBotPoseTargetSpace()

frc::Pose3d valor::cameras::Limelight::GetBotPoseTargetSpace ( ) const

inline

Gets the robot's 3D pose with respect to the currently tracked target's coordinate system.

Returns: Pose3d object representing the robot's position and orientation relative to the target

◆ GetBotPoseWpiBlue()

frc::Pose3d valor::cameras::Limelight::GetBotPoseWpiBlue ( ) const

inline

(Recommended) Gets the robot's 3D pose in the WPILib Blue Alliance Coordinate System.

Returns: Pose3d object representing the robot's position and orientation in Blue Alliance field space

◆ GetBotPoseWpiRed()

frc::Pose3d valor::cameras::Limelight::GetBotPoseWpiRed ( ) const

inline

(Not Recommended) Gets the robot's 3D pose in the WPILib Red Alliance Coordinate System.

Returns: Pose3d object representing the robot's position and orientation in Red Alliance field space

◆ GetCameraPoseRobotSpace()

frc::Pose3d valor::cameras::Limelight::GetCameraPoseRobotSpace ( ) const

inline

Gets the camera's 3D pose with respect to the robot's coordinate system.

Returns: Pose3d object representing the camera's position and orientation relative to the robot

◆ GetCameraPoseTargetSpace()

frc::Pose3d valor::cameras::Limelight::GetCameraPoseTargetSpace ( ) const

inline

Gets the camera's 3D pose with respect to the currently tracked target's coordinate system.

Returns: Pose3d object representing the camera's position and orientation relative to the target

◆ GetClassifierClass()

std::string valor::cameras::Limelight::GetClassifierClass ( ) const

inline

Gets the current neural classifier result class name.

Returns: Class name string from classifier pipeline

◆ GetClassifierClassIndex()

int valor::cameras::Limelight::GetClassifierClassIndex ( ) const

inline

Gets the classifier class index from the currently running neural classifier pipeline

Returns: Class index from classifier pipeline

◆ GetCornerCoordinates()

std::vector< CornerCoordinates > valor::cameras::Limelight::GetCornerCoordinates ( ) const

Gets the corner coordinates of detected targets from NetworkTables. Requires "send contours" to be enabled in the Limelight Output tab.

Returns: Array of corner coordinates

See also: CornerCoordinates

◆ GetCurrentPipelineIndex()

int valor::cameras::Limelight::GetCurrentPipelineIndex ( ) const

inline

Gets the active pipeline index.

Returns: Current pipeline index (0-9)

◆ GetCurrentPipelineType()

std::string valor::cameras::Limelight::GetCurrentPipelineType ( ) const

inline

Gets the current pipeline type.

Returns: Pipeline type string (e.g. "retro", "apriltag", etc)

◆ GetDetectorClass()

std::string valor::cameras::Limelight::GetDetectorClass ( ) const

inline

Gets the primary neural detector result class name.

Returns: Class name string from detector pipeline

◆ GetDetectorClassIndex()

int valor::cameras::Limelight::GetDetectorClassIndex ( ) const

inline

Gets the detector class index from the primary result of the currently running neural detector pipeline.

Returns: Class index from detector pipeline

◆ GetFiducialID()

std::optional< int > valor::cameras::Limelight::GetFiducialID ( ) const

Gets the ID of the primary AprilTag in view.

Returns: Fiducial/AprilTag ID, or std::nullopt if none detected

◆ GetFOV()

constexpr std::pair< units::degree_t, units::degree_t > valor::cameras::Limelight::GetFOV ( Model model )

inlinestaticconstexpr

Utility function to get the FOV of the Limelight given its physical model

Parameters

model Physical model of the Limelight

Returns: Returns the FOV of the camera as a pair of (X FOV, Y FOV)

See also: Model

◆ GetHeartbeat()

int valor::cameras::Limelight::GetHeartbeat ( ) const

inline

Gets the Limelight heartbeat value. Increments once per frame, allowing you to detect if the Limelight is connected and alive.

Returns: Heartbeat value that increments each frame

◆ GetIMUData()

IMUData valor::cameras::Limelight::GetIMUData ( ) const

inline

Gets the current IMU data from NetworkTables. IMU data is formatted as [robotYaw, Roll, Pitch, Yaw, gyroX, gyroY, gyroZ, accelX, accelY, accelZ]. Returns all zeros if data is invalid or unavailable.

Returns: IMUData object containing all current IMU data

See also: IMUData

◆ GetJSONDump()

std::string valor::cameras::Limelight::GetJSONDump ( ) const

inline

Gets the full JSON results dump.

Returns: JSON string containing all current results

◆ GetLatencyCapture()

units::millisecond_t valor::cameras::Limelight::GetLatencyCapture ( ) const

inline

Gets the capture latency.

Returns: Capture latency in milliseconds

◆ GetLatencyPipeline()

units::millisecond_t valor::cameras::Limelight::GetLatencyPipeline ( ) const

inline

Gets the pipeline's processing latency contribution.

Returns: Pipeline latency in milliseconds

◆ GetLatestResults()

LimelightHelpers::LimelightResultsClass valor::cameras::Limelight::GetLatestResults ( bool profile = false ) const

Gets the latest JSON results and parses them into a LimelightResultsClass object. This provides access to all targeting data including neural network results, AprilTag detections, retroreflective targets, and barcodes.

Parameters

profile If true, prints JSON parsing time to stdout

Returns: LimelightHelpers#LimelightResultsClass containing all parsed results

◆ GetNeuralClassID()

std::string valor::cameras::Limelight::GetNeuralClassID ( ) const

inline

Gets the neural network class name for the primary detected object.

Returns: Class name string from neural network pipeline

◆ GetPythonScriptData()

std::vector< double > valor::cameras::Limelight::GetPythonScriptData ( ) const

inline

Gets data from a Python SnapScript running on the Limelight.

Returns: Vector of doubles from the Python script

◆ GetRawBarcodeData()

std::vector< std::string > valor::cameras::Limelight::GetRawBarcodeData ( ) const

inline

Gets raw barcode data from the barcode scanner pipeline.

Returns: Vector of decoded barcode strings

◆ GetRawDetections()

std::vector< RawDetection > valor::cameras::Limelight::GetRawDetections ( ) const

Gets the latest raw neural detector results from NetworkTables

Returns: Vector of RawDetection objects containing detection details

See also: RawDetection

◆ GetRawFiducials()

std::vector< RawFiducial > valor::cameras::Limelight::GetRawFiducials ( ) const

Gets the latest raw fiducial/AprilTag detection results from NetworkTables.

Returns: Vector of RawFiducial objects containing detection details

See also: RawFiducial

◆ GetRawTargets()

std::vector< RawTarget > valor::cameras::Limelight::GetRawTargets ( ) const

Gets the raw target contours from NetworkTables. Returns ungrouped contours in normalized screen space (-1 to 1).

Returns: Vector of RawTarget objects containing up to 3 contours

See also: RawTarget

◆ GetTA()

double valor::cameras::Limelight::GetTA ( ) const

inline

Gets the target area as a percentage of the image (0-100%).

Returns: Target area percentage (0-100)

◆ GetTargetColor()

frc::Color valor::cameras::Limelight::GetTargetColor ( ) const

Gets the target color as RGB values.

Returns: Color of the target

◆ GetTargetCount()

int valor::cameras::Limelight::GetTargetCount ( ) const

inline

Gets the number of targets currently detected.

Returns: Number of detected targets

◆ GetTargetMetrics()

TargetMetrics valor::cameras::Limelight::GetTargetMetrics ( ) const

T2D contains several targeting metrics

Returns: Targeting metrics

See also: TargetMetrics

◆ GetTargetPoseCameraSpace()

frc::Pose3d valor::cameras::Limelight::GetTargetPoseCameraSpace ( ) const

inline

Gets the target's 3D pose with respect to the camera's coordinate system.

Returns: Pose3d object representing the target's position and orientation relative to the camera

◆ GetTargetPoseRobotSpace()

frc::Pose3d valor::cameras::Limelight::GetTargetPoseRobotSpace ( ) const

inline

Gets the target's 3D pose with respect to the robot's coordinate system.

Returns: Pose3d object representing the target's position and orientation relative to the robot

◆ GetTV()

bool valor::cameras::Limelight::GetTV ( ) const

inline

Does the Limelight have a valid target?

Returns: True if a valid target is present, false otherwise

◆ GetTX()

units::degree_t valor::cameras::Limelight::GetTX ( ) const

inline

Gets the horizontal offset from the crosshair to the target in degrees.

Returns: Horizontal offset angle in degrees

◆ GetTXNC()

units::degree_t valor::cameras::Limelight::GetTXNC ( ) const

inline

Gets the horizontal offset from the principal pixel/point to the target in degrees. This is the most accurate 2d metric if you are using a calibrated camera and you don't need adjustable crosshair functionality.

Returns: Horizontal offset angle in degrees

◆ GetTY()

units::degree_t valor::cameras::Limelight::GetTY ( ) const

inline

Gets the vertical offset from the crosshair to the target in degrees.

Returns: Vertical offset angle in degrees

◆ GetTYNC()

units::degree_t valor::cameras::Limelight::GetTYNC ( ) const

inline

Gets the vertical offset from the principal pixel/point to the target in degrees. This is the most accurate 2d metric if you are using a calibrated camera and you don't need adjustable crosshair functionality.

Returns: Vertical offset angle in degrees

◆ LoggablePeriodic()

void valor::cameras::Limelight::LoggablePeriodic ( )

overridevirtual

Periodic callback for logging updates.

If a derived class needs to perform periodic updates to published values, override this method. It is intended to be called by the logging framework; this base class provides an empty implementation.

Reimplemented from valor::Loggable.

◆ SetCameraPoseRobotSpace()

void valor::cameras::Limelight::SetCameraPoseRobotSpace ( const frc::Pose3d & pose )

Sets the camera pose relative to the robot. The UI camera pose must be set to zeros for this to take effect.

Parameters

pose	Pose of the camera relative to the robot

◆ SetCropWindow()

void valor::cameras::Limelight::SetCropWindow	(	double	xMin,
		double	xMax,
		double	yMin,
		double	yMax )

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

Parameters

xMin	Minimum X value (-1 to 1)
xMax	Maximum X value (-1 to 1)
yMin	Minimum Y value (-1 to 1)
yMax	Maximum Y value (-1 to 1)

◆ SetFiducial3DOffset()

void valor::cameras::Limelight::SetFiducial3DOffset ( const frc::Translation3d & offset )

Sets the 3D point-of-interest offset for the current fiducial pipeline. https://docs.limelightvision.io/docs/docs-limelight/pipeline-apriltag/apriltag-3d#point-of-interest-tracking

Parameters

x	X offset in meters
y	Y offset in meters
z	Z offset in meters

◆ SetFiducialDownscalingOverride()

void valor::cameras::Limelight::SetFiducialDownscalingOverride ( float downscale )

inline

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

Parameters

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

◆ SetFiducialIDFiltersOverride()

void valor::cameras::Limelight::SetFiducialIDFiltersOverride ( std::vector< int > validIDs )

inline

Overrides the valid AprilTag IDs for the current pipeline. Only tags with IDs in this list will be used for localization.

Parameters

validIDs Vector of valid AprilTag IDs to track

◆ SetIMUAssistAlpha()

void valor::cameras::Limelight::SetIMUAssistAlpha ( double alpha )

inline

Configures the complementary filter alpha value for IMU Assist Modes (Modes 3 and 4)

Parameters

alpha Defaults to .001. Higher values will cause the internal IMU to converge onto the assist source more rapidly.

◆ SetIMUMode()

void valor::cameras::Limelight::SetIMUMode ( IMUMode mode )

inline

Configures the IMU mode for MegaTag2 Localization

Parameters

mode IMU mode.

See also: IMUMode

◆ SetKeystone()

void valor::cameras::Limelight::SetKeystone	(	double	horizontal,
		double	vertical )

inline

Sets the keystone modification for the crop window.

Parameters

horizontal	Horizontal keystone value (-0.95 to 0.95)
vertical	Vertical keystone value (-0.95 to 0.95)

◆ SetLEDMode()

void valor::cameras::Limelight::SetLEDMode ( LEDMode mode )

Sets the LED mode of the Limelight

See also: LEDMode

◆ SetPipelineIndex()

void valor::cameras::Limelight::SetPipelineIndex ( int index )

inline

Sets the active pipeline index on the Limelight.

Parameters

index Pipeline index (0-9)

◆ SetPriorityTagID()

void valor::cameras::Limelight::SetPriorityTagID ( int ID )

inline

Sets the priority AprilTag ID for the Limelight to track.

Parameters

ID	The AprilTag ID to prioritize

◆ SetPythonScriptData()

void valor::cameras::Limelight::SetPythonScriptData ( const std::vector< double > & outgoingData )

inline

Sends data to a Python SnapScript running on the Limelight.

Parameters

outgoingData Vector of doubles to send to the Python script

◆ SetRewindEnabled()

void valor::cameras::Limelight::SetRewindEnabled ( bool enabled )

inline

Enables or pauses the rewind buffer recording.

Parameters

enabled True to enable recording, false to pause

◆ SetRobotOrientation()

void valor::cameras::Limelight::SetRobotOrientation	(	units::degree_t	yaw,
		units::degrees_per_second_t	yawRate,
		units::degree_t	pitch,
		units::degrees_per_second_t	pitchRate,
		units::degree_t	roll,
		units::degrees_per_second_t	rollRate,
		bool	flush = true )

Sets the robot orientation for MegaTag2 localization. This should be called every frame with your robot's current orientation from a gyro.

Parameters

yaw	Robot yaw in degrees (typically from gyro)
yawRate	Robot yaw rate in degrees per second
pitch	Robot pitch in degrees
pitchRate	Robot pitch rate in degrees per second
roll	Robot roll in degrees
rollRate	Robot roll rate in degrees per second
flush	Whether to flush NetworkTables after sending

◆ SetStreamMode()

void valor::cameras::Limelight::SetStreamMode ( StreamMode mode )

Sets the stream mode to standard (side-by-side).

See also: StreamMode

◆ SetThrottle()

void valor::cameras::Limelight::SetThrottle ( int throttle )

inline

Configures the throttle value. Set to 100-200 while disabled to reduce temp.

Parameters

throttle Defaults to 0. Your Limelight will process one frame after skipping <throttle> frames.

◆ SetupPortForwarding()

void valor::cameras::Limelight::SetupPortForwarding ( )

inline

Sets up port forwarding for a Limelight connected over Ethernet. This allows access to the Limelight web interface through the roboRIO. Call once during robot initialization.

◆ SetupPortForwardingUSB()

void valor::cameras::Limelight::SetupPortForwardingUSB ( int usbIndex )

inlinestatic

Sets up port forwarding for a Limelight 3A/3G connected via USB. This allows access to the Limelight web interface and video stream when connected to the robot over USB.

For usbIndex 0: ports 5800-5809 forward to 172.29.0.1 For usbIndex 1: ports 5810-5819 forward to 172.29.1.1 etc.

Call this method once during robot initialization. To access the interface of the camera with usbIndex0, you would go to roboRIO-(teamnum)-FRC.local:5801. Port 5811 for usb index 1

Parameters

usbIndex The USB index of the Limelight (0, 1, 2, etc.)

◆ TriggerRewindCapture()

void valor::cameras::Limelight::TriggerRewindCapture ( units::second_t duration )

inline

Triggers a rewind capture with the specified duration. Maximum duration is 165 seconds. Rate-limited on the Limelight.

Parameters

durationSeconds Duration of rewind capture in seconds (max 165)

◆ TriggerSnapshot()

void valor::cameras::Limelight::TriggerSnapshot ( )

inline

Triggers a snapshot capture via NetworkTables by incrementing the snapshot counter. Rate-limited to once per 10 frames on the Limelight.

The documentation for this class was generated from the following file:

src/main/include/valkyrie/cameras/Limelight.h

Classes

Public Types

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Member Enumeration Documentation

◆ IMUMode

◆ LEDMode

◆ Model

◆ StreamMode

Constructor & Destructor Documentation

◆ Limelight()

Member Function Documentation

◆ GetBotPose()

◆ GetBotPoseEstimateWpiBlue()

◆ GetBotPoseEstimateWpiRed()

◆ GetBotPoseTargetSpace()

◆ GetBotPoseWpiBlue()

◆ GetBotPoseWpiRed()

◆ GetCameraPoseRobotSpace()

◆ GetCameraPoseTargetSpace()

◆ GetClassifierClass()

◆ GetClassifierClassIndex()

◆ GetCornerCoordinates()

◆ GetCurrentPipelineIndex()

◆ GetCurrentPipelineType()

◆ GetDetectorClass()

◆ GetDetectorClassIndex()

◆ GetFiducialID()

◆ GetFOV()

◆ GetHeartbeat()

◆ GetIMUData()

◆ GetJSONDump()

◆ GetLatencyCapture()

◆ GetLatencyPipeline()

◆ GetLatestResults()

◆ GetNeuralClassID()

◆ GetPythonScriptData()

◆ GetRawBarcodeData()

◆ GetRawDetections()

◆ GetRawFiducials()

◆ GetRawTargets()

◆ GetTA()

◆ GetTargetColor()

◆ GetTargetCount()

◆ GetTargetMetrics()

◆ GetTargetPoseCameraSpace()

◆ GetTargetPoseRobotSpace()

◆ GetTV()

◆ GetTX()

◆ GetTXNC()

◆ GetTY()

◆ GetTYNC()

◆ LoggablePeriodic()

◆ SetCameraPoseRobotSpace()

◆ SetCropWindow()

◆ SetFiducial3DOffset()

◆ SetFiducialDownscalingOverride()

◆ SetFiducialIDFiltersOverride()

◆ SetIMUAssistAlpha()

◆ SetIMUMode()

◆ SetKeystone()

◆ SetLEDMode()

◆ SetPipelineIndex()

◆ SetPriorityTagID()

◆ SetPythonScriptData()

◆ SetRewindEnabled()

◆ SetRobotOrientation()

◆ SetStreamMode()

◆ SetThrottle()

◆ SetupPortForwarding()

◆ SetupPortForwardingUSB()

◆ TriggerRewindCapture()

◆ TriggerSnapshot()