Tuning Limelight

Follow these steps to tune the Limelight camera exposure and sensor gain settings for optimal AprilTag detection.

Prerequisites

• Laptop with the Limelight Hardware Client installed
• Robot powered on and connected to the network

Steps

1. Find Limelight IPs

   • Open the Limelight Hardware Client on your laptop
   • The client will display the IP addresses of all connected Limelights

2. Open the Limelight Tuner

   • Click on a Limelight's IP address in the Hardware Client to open the tuner in your browser
   • Alternatively, if the Limelight is connected via USB, navigate directly to http://172.28.0.1:5801/ in your browser

3. Set Initial Values

   • Set Exposure to 0
   • Set Sensor Gain to 0

4. Increase Sensor Gain

   • Gradually increase Sensor Gain until the AprilTags are clearly visible in the camera feed

5. Adjust Exposure if Needed

   • If you reach the maximum Sensor Gain and the tags are still not visible, begin increasing Exposure until the tags can be detected