java.lang.Object
- frc.robot.hardware.Limelight

All Implemented Interfaces:

edu.wpi.first.util.sendable.Sendable
```
public class Limelight
extends java.lang.Object
implements edu.wpi.first.util.sendable.Sendable
```
this class contains all of the code and functions required for using a limelight

Nested Class Summary

Nested Classes
Modifier and Type Class Description

class Limelight.Color

class Limelight.Position

Constructor Summary

Constructors
Constructor Description

Limelight()

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`Limelight.Position`	`get3D()`	Results of a 3D position solution, 6 numbers: Translation (x,y,z) Rotation(pitch,yaw,roll)
`double`	`getArea()`	Target Area
`double`	`getCamMode()`	Gets the Limelight's Operation Mode
`Limelight.Color`	`getColor()`	Get the average HSV color underneath the crosshair region as a NumberArray
`double`	`getHeight()`	Vertical sidelength of the rough bounding box
`double`	`getLEDMode()`	Get the Limelight's LED State
`double`	`getLongestSidelength()`	Sidelength of longest side of the fitted bounding box
`double`	`getPipe()`	True active pipeline index of the camera
`double`	`getRaw(java.lang.String variable)`	Get value from network table
`double`	`getRotation()`	Skew or rotation
`double`	`getShortestSidelength()`	Sidelength of shortest side of the fitted bounding box
`double`	`getSnapshot()`	Get Wether Users Are Allowed Take Snapshots During A Match
`double`	`getStream()`	Gets the Limelight's Streaming Mode
`double`	`getWidth()`	Horizontal sidelength of the rough bounding box
`double`	`getX()`	Horizontal Offset From Crosshair To Target
`double`	`getY()`	Vertical Offset From Crosshair To Target
`double`	`imageLatency()`	The image capture latency
`void`	`initSendable(edu.wpi.first.util.sendable.SendableBuilder builder)`
`double`	`latency()`	The pipeline’s latency contribution
`double[]`	`numberToDouble(java.lang.Number[] numbers)`	Converts number array into double array
`double`	`round(double numberToRound)`	Rounds input to the nearest hundereths place
`void`	`setCamMode(double mode)`	Sets the Limelight's Operation Mode
`void`	`setLEDMode(double mode)`	Set the Limelight's LED State
`void`	`setPipeline(double pipeline)`	Sets the Limelight's Current Pipeline
`void`	`setRaw(java.lang.String variable, double value)`	Set value in network table
`void`	`setSnapshot(double mode)`	Allows Users To Take Snapshots During A Match
`void`	`setStream(double mode)`	Sets the Limelight's Streaming Mode
`boolean`	`targetVisible()`	Whether the limelight has any valid targets

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Constructor Detail
  - Limelight
```
public Limelight()
```
- Method Detail
  - targetVisible
```
public boolean targetVisible()
```
    Whether the limelight has any valid targets
    
    Returns:
    
    true or false
  - getX
```
public double getX()
```
    Horizontal Offset From Crosshair To Target
    
    Returns:
    
    -29.8 to 29.8 degrees
  - getY
```
public double getY()
```
    Vertical Offset From Crosshair To Target
    
    Returns:
    
    -24.85 to 24.85 degrees
  - getArea
```
public double getArea()
```
    Target Area
    
    Returns:
    
    0% of image to 100% of image
  - getRotation
```
public double getRotation()
```
    Skew or rotation
    
    Returns:
    
    -90 degrees to 0 degrees
  - latency
```
public double latency()
```
    The pipeline’s latency contribution
    
    Returns:
    
    latency in miliseconds
  - imageLatency
```
public double imageLatency()
```
    The image capture latency
    
    Returns:
    
    capture latency in miliseconds
  - getShortestSidelength
```
public double getShortestSidelength()
```
    Sidelength of shortest side of the fitted bounding box
    
    Returns:
    
    Sidelength in pixels
  - getLongestSidelength
```
public double getLongestSidelength()
```
    Sidelength of longest side of the fitted bounding box
    
    Returns:
    
    Sidelength in pixels
  - getWidth
```
public double getWidth()
```
    Horizontal sidelength of the rough bounding box
    
    Returns:
    
    0 to 320 pixels
  - getHeight
```
public double getHeight()
```
    Vertical sidelength of the rough bounding box
    
    Returns:
    
    0 to 320 pixels
  - getPipe
```
public double getPipe()
```
    True active pipeline index of the camera
    
    Returns:
    
    pipeline 0 to 9
  - get3D
```
public Limelight.Position get3D()
```
    Results of a 3D position solution, 6 numbers: Translation (x,y,z) Rotation(pitch,yaw,roll)
    
    Returns:
    
    Number[[x, y, z],[pitch, yaw, roll]]
  - getColor
```
public Limelight.Color getColor()
```
    Get the average HSV color underneath the crosshair region as a NumberArray
    
    Returns:
    
    Number[hue, saturation, value]
  - getRaw
```
public double getRaw(java.lang.String variable)
```
    Get value from network table
    
    Parameters:
    
    variable - the value to get
    
    Returns:
    
    the value in the network table (default 0)
  - setRaw
```
public void setRaw(java.lang.String variable,
                   double value)
```
    Set value in network table
    
    Parameters:
    
    variable - the value to change
    
    value - the new value
  - numberToDouble
```
public double[] numberToDouble(java.lang.Number[] numbers)
```
    Converts number array into double array
    
    Parameters:
    
    numbers - the number array to convert
    
    Returns:
    
    the double array
  - round
```
public double round(double numberToRound)
```
    Rounds input to the nearest hundereths place
    
    Parameters:
    
    numberToRound - the number to round
    
    Returns:
    
    the rounded number
  - setLEDMode
```
public void setLEDMode(double mode)
```
    Set the Limelight's LED State
    
    Parameters:
    
    mode -
    0: normal,
    1: force off,
    2: force blink,
    3: force on
  - getLEDMode
```
public double getLEDMode()
```
    Get the Limelight's LED State
    
    Returns:
    
    0: normal,
    1: force off,
    2: force blink,
    3: force on
  - setCamMode
```
public void setCamMode(double mode)
```
    Sets the Limelight's Operation Mode
    
    Parameters:
    
    mode -
    0: Vision Proccesing,
    1: Driver Camera
  - getCamMode
```
public double getCamMode()
```
    Gets the Limelight's Operation Mode
    
    Returns:
    
    0: Vision Proccesing,
    1: Driver Camera
  - setPipeline
```
public void setPipeline(double pipeline)
```
    Sets the Limelight's Current Pipeline
    
    Parameters:
    
    pipeline -
    Select Pipeline 0..9
  - setStream
```
public void setStream(double mode)
```
    Sets the Limelight's Streaming Mode
    
    Parameters:
    
    mode -
    0: Standard (Side By Side),
    1: PiP Main (Secoundary Stream In Lower Right Corner),
    2: PiP Secoundary (Primary Stream In Lower Right Corner)
  - getStream
```
public double getStream()
```
    Gets the Limelight's Streaming Mode
    
    Returns:
    
    0: Standard (Side By Side),
    1: PiP Main (Secoundary Stream In Lower Right Corner),
    2: PiP Secoundary (Primary Stream In Lower Right Corner)
  - setSnapshot
```
public void setSnapshot(double mode)
```
    Allows Users To Take Snapshots During A Match
    
    Parameters:
    
    mode -
    0: Stop Taking Snapshots
    1: Take Two Snapshots Per Second
  - getSnapshot
```
public double getSnapshot()
```
    Get Wether Users Are Allowed Take Snapshots During A Match
    
    Returns:
    
    0: Not Taking Snapshots
    1: Taking Two Snapshots Per Second
  - initSendable
```
public void initSendable(edu.wpi.first.util.sendable.SendableBuilder builder)
```
    Specified by:
    
    initSendable in interface edu.wpi.first.util.sendable.Sendable

Class Limelight

Nested Class Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Constructor Detail

Limelight

Method Detail

targetVisible

getX

getY

getArea

getRotation

latency

imageLatency

getShortestSidelength

getLongestSidelength

getWidth

getHeight

getPipe

get3D

getColor

getRaw

setRaw

numberToDouble

round

setLEDMode

getLEDMode

setCamMode

getCamMode

setPipeline

setStream

getStream

setSnapshot

getSnapshot

initSendable