Package com.flarerobotics.lib.subsystem.vision.io

Class LibVisionIOLimelight

java.lang.Object

com.flarerobotics.lib.subsystem.vision.io.LibVisionIOLimelight

All Implemented Interfaces:

LibVisionIO

public class LibVisionIOLimelight
extends Object
implements LibVisionIO

IO implementation for real Limelight hardware.

Nested Class Summary

Nested classes/interfaces inherited from interface com.flarerobotics.lib.subsystem.vision.LibVisionIO

LibVisionIO.PoseObservation, LibVisionIO.PoseObservationType, LibVisionIO.TargetObservation, LibVisionIO.VisionIOInputs

Constructor Summary

Constructors

Constructor	Description
LibVisionIOLimelight(String name, Supplier<edu.wpi.first.math.geometry.Rotation2d> rotationSupplier)	Constructs a new LibVisionIOLimelight.

Method Summary

Modifier and Type	Method	Description
void	setPipeline(int pipelineIndex)	Sets the current pipeline index.
void	updateInputs(LibVisionIO.VisionIOInputs inputs)	Updates the given vision inputs.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

LibVisionIOLimelight

public LibVisionIOLimelight(String name,
 Supplier<edu.wpi.first.math.geometry.Rotation2d> rotationSupplier)

Constructs a new LibVisionIOLimelight.

Parameters:

name - The name of the Limelight.

rotationSupplier - Supplier for the current robot rotation as reported by the gyro/IMU, used for MegaTag2.

Method Details

updateInputs

public void updateInputs(LibVisionIO.VisionIOInputs inputs)

Description copied from interface: LibVisionIO

Updates the given vision inputs.

Specified by:

updateInputs in interface LibVisionIO

Parameters:

inputs - The inputs.

setPipeline

public void setPipeline(int pipelineIndex)

Description copied from interface: LibVisionIO

Sets the current pipeline index.

Specified by:

setPipeline in interface LibVisionIO

Parameters:

pipelineIndex - The index.