Limelight Class Reference

Inheritance diagram for Limelight:

Public Member Functions
	__init__ (self, Drivetrain drive)
	adjustGyro (self, float amount)
	fetch_limelight_measurements (self, str LLHostname)
	fetch_limelight_measurements_mt1 (self, str LLHostname)
	get_closest_tag (self, Pose2d current)
Pose2d	get_current (self)
	getPath (self)
None	periodic (self)
	std_dev_math (self, PoseEstimate estimate)
Pose2d	update_target (self, constants.Direction side, high)

Public Attributes
	drivetrain = drive
bool	frontForward = True
	pathcmd = commands2.Command()
	pigeon2 = Pigeon2(constants.TunerConstants._pigeon_id, "Drivetrain")
bool	posset = False
bool	tag_seen = False
	target = Pose2d()
	targetOnAField = Field2d()
	tpe = concurrent.futures.ThreadPoolExecutor()

Constructor & Destructor Documentation

__init__()

__init__	(		self,
		Drivetrain	drive )

Member Function Documentation

adjustGyro()

adjustGyro	(		self,
		float	amount )

fetch_limelight_measurements()

fetch_limelight_measurements	(		self,
		str	LLHostname )

Add vision measurement to MegaTag2

fetch_limelight_measurements_mt1()

fetch_limelight_measurements_mt1	(		self,
		str	LLHostname )

get_closest_tag()

get_closest_tag	(		self,
		Pose2d	current )

get_current()

Pose2d get_current

(

self

)

getPath()

getPath

(

self

)

periodic()

None periodic

(

self

)

std_dev_math()

std_dev_math	(		self,
		PoseEstimate	estimate )

update_target()

Pose2d update_target	(		self,
		constants.Direction	side,
			high )

Member Data Documentation

drivetrain

drivetrain = drive

frontForward

bool frontForward = True

pathcmd

pathcmd = commands2.Command()

pigeon2

pigeon2 = Pigeon2(constants.TunerConstants._pigeon_id, "Drivetrain")

posset

bool posset = False

tag_seen

bool tag_seen = False

target

target = Pose2d()

targetOnAField

targetOnAField = Field2d()

tpe

tpe = concurrent.futures.ThreadPoolExecutor()

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The documentation for this class was generated from the following file:

• /home/axolotl/FRC-2025/subsystems/vision/vision.py