Updating Limelight Firmware

Prerequisites

• Laptop with Balena Etcher installed
• USB Type C Cable

Initial Setup

1. Download Required Files

   • Visit the Limelight Downloads Page
   • Download Limelight OS
   • Download AprilTag Map

2. Prepare Limelight Connection

   • Power off the robot
   • Hold down the red button on Limelight
   • Connect USB Type C cable to laptop (while holding down red button)

3. Flash Firmware

   • Launch Balena Etcher as administrator
   • Important: Do NOT format when prompted
   • Select "Flash from file" and choose Limelight OS
   • Choose Limelight as target device
   • Click "Flash" and wait for completion

4. Initial Configuration

   • Disconnect Limelight from your laptop
   • Power on robot
   • Connect to robot WiFi
   • Access limelight.local:5801 in browser
   • Verify firmware version (top-right corner)
   • 

5. Network Configuration

   • Navigate to Settings tab
   • Update team number to 3255
   • 
   • Configure IP address settings

6. Final Steps

   • Power cycle robot
   • Reconnect to robot
   • Access the limelight in browser at 10.32.55.11:5801

AprilTag Configuration

1. Pipeline Setup

   • Switch to Pipelines tab
   • Set pipeline type to AprilTags:
   • 
   • Enable full 3D targeting

2. Field Configuration

   • Configure MegaTag Field-Space Localization
   • Set robot constants (based on WPILib Robot coordinate system)
   • Upload field map file

3. Finalization

   • Your limelight is now ready to tune at competition!
   • Adjust input settings as needed, depending on light settings, lens focus, ect.