Package org.team1540.rooster.wrappers

Class Limelight

  • public class Limelight
extends Object

    • Constructor Detail

      • Limelight

        public Limelight​(String name)
        Constructs a new limelight interface with the default hostname.
        Parameters:
        name - hostname of the limelight

    • Method Detail

      • getNetworkTable

        public edu.wpi.first.networktables.NetworkTable getNetworkTable()

      • getHorizontalFov

        public double getHorizontalFov()

      • getVerticalFov

        public double getVerticalFov()

      • getResolution

        public org.apache.commons.math3.geometry.euclidean.twod.Vector2D getResolution()

      • getTargetAngles

        public org.apache.commons.math3.geometry.euclidean.twod.Vector2D getTargetAngles()
        Gets the output of the limelight targeting from the network table.
        Returns:
        a Vector2D containing the output angles of the limelight targeting in radians

      • isTargetFound

        public boolean isTargetFound()
        Queries whether the limelight target has been found.
        Returns:
        the state of the target

      • setLeds

        public void setLeds​(boolean isOn)
        Sets limelight's green LEDs on or off.
        Parameters:
        isOn - the new state of the LEDs

      • getLeds

        public boolean getLeds()

      • setDriverCam

        public void setDriverCam​(boolean driverCam)
        Sets limelight to driver cam or vision mode.
        Parameters:
        driverCam - Whether the limelight should be in driver cam mode

      • setPipeline

        public void setPipeline​(double id)

      • getPipeline

        public long getPipeline()

      • getCorners

        public List<org.apache.commons.math3.geometry.euclidean.twod.Vector2D> getCorners()