Package com.frcteam3255.components

Class SN_Limelight

java.lang.Object
com.frcteam3255.components.SN_Limelight
public class SN_Limelight extends Object
Wrapper for the Limelight

Adds custom return methods like hasTarget() and getOffsetX()

  • Constructor Details

    • SN_Limelight

      public SN_Limelight()
      Creates new SN_Limelight Instance

  • Method Details

    • hasTarget

      public boolean hasTarget()
      Returns:
      Whether the limelight has any valid targets

    • getOffsetX

      public double getOffsetX()
      Returns:
      Horizontal Offset From Crosshair To Target

    • getOffsetY

      public double getOffsetY()
      Returns:
      Vertical Offset From Crosshair To Target

    • getTargetArea

      public double getTargetArea()
      Returns:
      Target Area Percentage

    • setLEDMode

      public void setLEDMode(SN_Limelight.LEDMode a_LEDMode)
      Parameters:
      a_LEDMode - Sets the LED Mode on the Limelight

    • getLEDMode

      public SN_Limelight.LEDMode getLEDMode()

    • toggleLEDs

      public void toggleLEDs()
      Toggles the LEDs status from off to on, and every other state to off

    • setVideoFeedProcessed

      public void setVideoFeedProcessed()
      Decreases exposure, enables vision processing

    • setVideoFeedNoProcessing

      public void setVideoFeedNoProcessing()
      Increases exposure, disables vision processing

    • setPipeline

      public void setPipeline(int a_pipeline)
      Select vision pipeline 0 through 9
      Parameters:
      a_pipeline - 0 .. 9