Limelight

Read the official Limelight documentation here.

The limelight API is for interfacing with limelights in the robot code. It is a wrapper around the network tables API.

To create a limelight, you can use the following code:

wom::Limelight *limelight = new wom::Limelight("limelight name");

Parameters

Type	Name	Description	See Also
std::string	name	The name of the limelight

Enums

LimelightTargetingData

Name	Description	Usage
tv	Whether the limelight has any valid targets (0 or 1)	wom::LimelightTargetingData::kTv
tx	Horizontal Offset From Crosshair To Target (LL1: -27 degrees to 27 degrees / LL2: -29.8 to 29.8 degrees)	wom::LimelightTargetingData::kTx
ty	Vertical Offset From Crosshair To Target (LL1: -20.5 degrees to 20.5 degrees / LL2: -24.85 to 24.85 degrees)	wom::LimelightTargetingData::kTy
ta	Target Area (0% of image to 100% of image)	wom::LimelightTargetingData::kTa
tl	The pipeline’s latency contribution (ms). Add to “cl” to get total latency.	wom::LimelightTargetingData::kTl
cl	Capture pipeline latency (ms). Time between the end of the exposure of the middle row of the sensor to the beginning of the tracking pipeline.	wom::LimelightTargetingData::kCl
tshort	Sidelength of shortest side of the fitted bounding box (pixels)	wom::LimelightTargetingData::kTshort
tlong	Sidelength of longest side of the fitted bounding box (pixels)	wom::LimelightTargetingData::kTlong
thor	Horizontal sidelength of the rough bounding box (0 - 320 pixels)	wom::LimelightTargetingData::kThor
tvert	Vertical sidelength of the rough bounding box (0 - 320 pixels)	wom::LimelightTargetingData::kTvert
getpipe	True active pipeline index of the camera (0 .. 9)	wom::LimelightTargetingData::kGetpipe
json	Full JSON dump of targeting results	wom::LimelightTargetingData::kJson
tclass	Class ID of primary neural detector result or neural classifier result	wom::LimelightTargetingData::kTclass
tc	Get the average HSV color underneath the crosshair region as a NumberArray	wom::LimelightTargetingData::kTc

LimelightAprilTagData

Name	Description	Usage
botpose	Robot transform in field-space. Translation (X,Y,Z) Rotation(Roll,Pitch,Yaw), total latency (cl+tl)	wom::LimelightAprilTagData::kBotpose
botpose_wpiblue	Robot transform in field-space (blue driverstation WPILIB origin). Translation (X,Y,Z) Rotation(Roll,Pitch,Yaw), total latency (cl+tl)	wom::LimelightAprilTagData::kBotpose_wpiblue
botpose_wpired	Robot transform in field-space (red driverstation WPILIB origin). Translation (X,Y,Z) Rotation(Roll,Pitch,Yaw), total latency (cl+tl)	wom::LimelightAprilTagData::kBotpose_wpired
camerapose_targetspace	3D transform of the camera in the coordinate system of the primary in-view AprilTag (array (6))	wom::LimelightAprilTagData::kCamerapose_targetspace
targetpose_cameraspace	3D transform of the primary in-view AprilTag in the coordinate system of the Camera (array (6))	wom::LimelightAprilTagData::kTargetpose_cameraspace
targetpose_robotspace	3D transform of the primary in-view AprilTag in the coordinate system of the Robot (array (6))	wom::LimelightAprilTagData::kTargetpose_robotspace
botpose_targetspace	3D transform of the robot in the coordinate system of the primary in-view AprilTag (array (6))	wom::LimelightAprilTagData::kBotpose_targetspace
camerapose_robotspace	3D transform of the camera in the coordinate system of the robot (array (6))	wom::LimelightAprilTagData::kCamerapose_robotspace
tid0	The ID of the primary AprilTag in the image	wom::LimelightAprilTagData::kTid

LimelightLEDMode

Name	Description	Usage
PipelineDefault	Use the LED Mode set in the current pipeline	wom::LimelightLEDMode::kPipelineDefault
ForceOff	Force the LEDs off	wom::LimelightLEDMode::kForceOff
ForceBlink	Force the LEDs to blink	wom::LimelightLEDMode::kForceBlink
ForceOn	Force the LEDs on	wom::LimelightLEDMode::kForceOn

LimelightCamMode

Name	Description	Usage
VisionProcessor	Vision processor	wom::LimelightCamMode::kVisionProcessor
DriverCamera	Driver camera (Increases exposure, disables vision processing)	wom::LimelightCamMode::kDriverCamera

LimelightPipeline

Name	Description	Usage
Pipeline0	Pipeline 0	wom::LimelightPipeline::kPipeline0
Pipeline1	Pipeline 1	wom::LimelightPipeline::kPipeline1
Pipeline2	Pipeline 2	wom::LimelightPipeline::kPipeline2
Pipeline3	Pipeline 3	wom::LimelightPipeline::kPipeline3
Pipeline4	Pipeline 4	wom::LimelightPipeline::kPipeline4
Pipeline5	Pipeline 5	wom::LimelightPipeline::kPipeline5
Pipeline6	Pipeline 6	wom::LimelightPipeline::kPipeline6
Pipeline7	Pipeline 7	wom::LimelightPipeline::kPipeline7
Pipeline8	Pipeline 8	wom::LimelightPipeline::kPipeline8
Pipeline9	Pipeline 9	wom::LimelightPipeline::kPipeline9

LimelightStreamMode

Name	Description	Usage
Standard	Side-by-side streams if a webcam is attached to Limelight	wom::LimelightStreamMode::kStandard
PiPMain	The secondary camera stream is placed in the lower-right corner of the primary camera stream	wom::LimelightStreamMode::kPiPMain
PiPSecondary	The primary camera stream is placed in the lower-right corner of the secondary camera stream	wom::LimelightStreamMode::kPiPSecondary

LimelightSnapshot

Name	Description	Usage
Reset	Reset snapshot mode	wom::LimelightSnapshotMode::kReset
Single	Take two snapshots per second	wom::LimelightSnapshotMode::kSingle

Methods

GetName

Gets the name of the limelight.

std::string GetName();

GetOffset

Gets the offset of the limelight.

std::pair<double, double> GetOffset();

Example

std::pair<double, double> offset = limelight->GetOffset();

GetAprilTagData

Gets the AprilTag data from the limelight. The string that you pass in corresponds to the data that you want to fetch from it.

You can see all of the types of data here.

std::vector<double> GetAprilTagData(wom::LimelightAprilTagData dataType);

Example

std::vector<double> data = limelight->GetAprilTagData(wom::LimeLightAprilTagData::kBotpose);

GetTargetingData

Gets the targeting data from the limelight. The string that you pass in corresponds to the data that you want to fetch from it.

You can see all of the types of data here.

double GetTargetingData(wom::LimelightTargetingData, double defaultValue = 0.0)

Example

double data = limelight->GetTargetingData(wom::LimelightTargetingData::kTx);

SetLEDMode

Sets the LED mode of the limelight.

You can see all of the types of LED modes here.

void SetLEDMode(wom::LimelightLEDMode mode);

Example

limelight->SetLEDMode(wom::LimelightLEDMode::kForceOn);

SetCamMode

Sets the camera mode of the limelight.

You can see all of the types of camera modes here.

void SetCamMode(wom::LimelightCamMode mode);

Example

limelight->SetCamMode(wom::LimelightCamMode::kDriverCamera);

SetPipeline

Sets the pipeline of the limelight.

You can see all of the types of pipelines here.

void SetPipeline(wom::LimelightPipeline pipeline);

Example

limelight->SetPipeline(wom::LimelightPipeline::kPipeline0);

SetStreamMode

Sets the stream mode of the limelight.

You can see all of the types of stream modes here.

void SetStreamMode(wom::LimelightStreamMode mode);

Example

limelight->SetStreamMode(wom::LimelightStreamMode::kPiPMain);

SetSnapshot

Sets the snapshot mode of the limelight.

You can see all of the types of snapshot modes here.

void SetSnapshot(wom::LimelightSnapshot mode);

Example

limelight->SetSnapshot(wom::LimelightSnapshotMode::kSingle);

SetCrop

Sets the crop of the limelight.

void SetCrop(std::array<double, 4> crop);

Example

limelight->SetCrop({0.0, 0.0, 0.0, 0.0});

IsAtSetPoseVision

Checks if the limelight is at the set pose.

bool IsAtSetPoseVision(frc::Pose3d pose, units::second_t dt);

Example

bool isAtSetPose = limelight->IsAtSetPoseVision(frc::Pose3d(0_m, 0_m, 0_rad), 0_s);

GetSpeed

Gets the speed of the limelight between two poses.

units::meters_per_second_t GetSpeed(frc::Pose3d pose1, frc::Pose3d pose2, units::second_t dt);

Example

units::meters_per_second_t speed = limelight->GetSpeed(frc::Pose3d(0_m, 0_m, 0_rad), frc::Pose3d(0_m, 0_m, 0_rad), 0_s);

GetPose

Gets the pose of the limelight.

frc::Pose3d GetPose();

Example

frc::Pose3d pose = limelight->GetPose();