Package org.hivevisionftc.vision

Class LimelightSource

java.lang.Object

org.hivevisionftc.vision.LimelightSource

All Implemented Interfaces:

DetectionSource

public final class LimelightSource
extends Object
implements DetectionSource

DetectionSource backed by a Limelight 3A running a neural detector pipeline.

Constructor Summary

Constructors

Constructor	Description
LimelightSource(com.qualcomm.hardware.limelightvision.Limelight3A limelight, VisionConfig config)	Selects the configured pipeline, sets the polling rate and starts the camera.

Method Summary

Modifier and Type	Method	Description
List<Detection>	fetchLatestDetections(Pose robotPose)	Returns the latest detections, located in field coordinates from the given robot pose.
long	stalenessMs()	Age, in milliseconds, of the data behind the last DetectionSource.fetchLatestDetections(org.hivevisionftc.vision.Pose) call.

Methods inherited from class java.lang.Object

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

Constructor Details

LimelightSource

public LimelightSource(com.qualcomm.hardware.limelightvision.Limelight3A limelight,
 VisionConfig config)

Selects the configured pipeline, sets the polling rate and starts the camera.

Method Details

fetchLatestDetections

public List<Detection> fetchLatestDetections(Pose robotPose)

Description copied from interface: DetectionSource

Returns the latest detections, located in field coordinates from the given robot pose. Detections that cannot be located on the field are left out.

Specified by:

fetchLatestDetections in interface DetectionSource

stalenessMs

public long stalenessMs()

Description copied from interface: DetectionSource

Age, in milliseconds, of the data behind the last DetectionSource.fetchLatestDetections(org.hivevisionftc.vision.Pose) call.

Specified by:

stalenessMs in interface DetectionSource