Package com.stuypulse.robot.subsystems.vision

Class LimelightVision

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

com.stuypulse.robot.subsystems.vision.LimelightVision

All Implemented Interfaces:

edu.wpi.first.util.sendable.Sendable, edu.wpi.first.wpilibj2.command.Subsystem

public class LimelightVision
extends edu.wpi.first.wpilibj2.command.SubsystemBase

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	LimelightVision.MegaTagMode

Field Summary

Fields

Modifier and Type	Field	Description
private edu.wpi.first.networktables.BooleanSubscriber[]	camerasEnabled
private static final LimelightVision	instance
private LimelightVision.MegaTagMode	megaTagMode
private String[]	names

Constructor Summary

Constructors

Constructor	Description
LimelightVision()

Method Summary

Modifier and Type	Method	Description
void	captureRewind(double timeSecs)
void	disable()
void	enable()
LimelightHelpers.IMUData[]	getIMUData()
static LimelightVision	getInstance()
void	periodic()
void	setCameraEnabled(String name, boolean enabled)
void	setIMUAssistValue(double assistValue)	Allows you to set the convergence speed of the internal LL IMU and robot gyro.
void	setIMUMode(int mode)
void	setMegaTagMode(LimelightVision.MegaTagMode mode)
void	setPipeline(int pipeline)
void	setTagWhitelist(int[] ids)

Methods inherited from class edu.wpi.first.wpilibj2.command.SubsystemBase

addChild, getName, getSubsystem, initSendable, setName, setSubsystem

Methods inherited from class java.lang.Object

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

Methods inherited from interface edu.wpi.first.wpilibj2.command.Subsystem

defer, getCurrentCommand, getDefaultCommand, idle, register, removeDefaultCommand, run, runEnd, runOnce, setDefaultCommand, simulationPeriodic, startEnd, startRun

Field Details

instance

private static final LimelightVision instance

names

private String[] names

camerasEnabled

private edu.wpi.first.networktables.BooleanSubscriber[] camerasEnabled

megaTagMode

private LimelightVision.MegaTagMode megaTagMode

Constructor Details

LimelightVision

public LimelightVision()

Method Details

getInstance

public static LimelightVision getInstance()

setTagWhitelist

public void setTagWhitelist(int[] ids)

enable

public void enable()

disable

public void disable()

setCameraEnabled

public void setCameraEnabled(String name,
 boolean enabled)

setMegaTagMode

public void setMegaTagMode(LimelightVision.MegaTagMode mode)

setIMUMode

public void setIMUMode(int mode)

setPipeline

public void setPipeline(int pipeline)

setIMUAssistValue

public void setIMUAssistValue(double assistValue)

Allows you to set the convergence speed of the internal LL IMU and robot gyro.

Parameters:

assistValue - , an double that sets the correction speed of the complementary filter for the IMU. IMU Mode 4 uses the fusing of the internal IMU (1khz) with the external gyro reading as well. Higher values ranging towards 1 indicate a faster convergence of internal IMU to the robot IMU mode. Defaults to 0.001.

getIMUData

public LimelightHelpers.IMUData[] getIMUData()

captureRewind

public void captureRewind(double timeSecs)

periodic

public void periodic()