NextFTC Hardware/dev.nextftc.hardware.webcams/NextLimelight

NextLimelight

class NextLimelight(initializer: () -> Limelight3A)

A NextFTC wrapper around the Limelight3A vision sensor that resolves the device lazily from the hardware map, so you never have to fetch it yourself.

Wraps the common lifecycle methods directly; anything else on the underlying sensor is reachable through camera.

Author

28shettr

Parameters

initializer

supplies the underlying Limelight3A when first accessed.

Constructors

NextLimelight

constructor(initializer: () -> Limelight3A)

constructor(name: String)

Properties

camera

val camera: Limelight3A

The underlying Limelight3A, for anything not wrapped.

isConnected

val isConnected: Boolean

True if the sensor has reported data within the last ~250ms.

isRunning

val isRunning: Boolean

True while the polling loop is active.

latestResult

val latestResult: LLResult

The most recent result from the polling loop.

val tX: Double

The horizontal offset angle, in degrees, from the camera's crosshair to the target.

val tY: Double

The vertical offset angle, in degrees, from the camera's crosshair to the target.

Functions

getDistance

@JvmOverloads

fun getDistance(unit: DistanceUnit = Inches, id: Int? = null): Distance?

Returns the straight-line distance (hypotenuse) from the robot to the AprilTag matching id (or any visible tag if id is null) in the given unit.

getPedroPose

fun getPedroPose(): Pose2d?

Returns the robot's field position from the latest Limelight result in Pedro coordinates, or null if no valid pose is available.

getPose

fun getPose(): Pose2d?

Returns the robot's field position from the latest Limelight result in FTC coordinates, or null if no valid pose is available.

setPipeline

fun setPipeline(pipeline: Int): Boolean

Switches to the pipeline at the given index.

setPollRate

fun setPollRate(hz: Int)

Sets the poll rate in Hz; must be called before start.

start

fun start()

Starts the polling loop.

startReading

@JvmOverloads

fun startReading(pipeline: Int, hz: Int = 100)

Sets the poll rate and pipeline, then starts polling in one call.

stop

fun stop()

Stops the polling loop.