Package io.github.roboblazers7617.limelight

Class Limelight

java.lang.Object
io.github.roboblazers7617.limelight.Limelight
public class Limelight extends Object
An object that represents a physical Limelight.

  • Field Details

  • Constructor Details

    • Limelight

      public Limelight(String name)
      Creates a new Limelight.
      Parameters:
      name - The hostname of the Limelight.

  • Method Details

    • getNetworkTable

      public NetworkTable getNetworkTable()
      Gets the networkTable for this Limelight.
      Returns:
      The networkTable for this Limelight.

    • getSettings

      public LimelightSettings getSettings()
      Gets the settings for this Limelight.
      Returns:
      The settings for this Limelight.

    • getDataCollator

      public PipelineDataCollator getDataCollator()
      Gets the dataCollator for this Limelight.
      Returns:
      The dataCollator for this Limelight.

    • setRobotOrientation

      public void setRobotOrientation(Rotation3d rotation)
      Sets the pipeline's robot orientation input with the given rotation.
      Parameters:
      rotation - The robot rotation to set.

    • makePoseEstimator

      public PoseEstimator makePoseEstimator(PoseEstimator.PoseEstimators estimator)
      Creates a new PoseEstimator for this Limelight.
      Parameters:
      estimator - The pose estimator to use.
      Returns:
      The created PoseEstimator.

    • getLimelightURLString

      public URL getLimelightURLString(String request)
      Gets a URL for the given request to this Limelight.
      Parameters:
      request - The request string to use.
      Returns:
      The URL for the request, or null if invalid.

    • snapshot

      public void snapshot(String snapshotName)
      Asynchronously takes a snapshot.
      Parameters:
      snapshotName - The name to give to the snapshot.
      See Also:
      • snapshotSynchronous(String)