Quickstart

Install

dependencies {
    implementation 'io.github.sidhuharjas:core:1.0.0'
    implementation 'io.github.sidhuharjas:weaver:1.0.0'
    implementation 'com.skeletonarmyftc.marrow:core:1.2.2'
    implementation 'com.pedropathing:core:3.0.1'
}

Both artifacts are on Maven Central, so mavenCentral() in repositories is enough. Marrow is compiled into weaver but not published with it. Declare it yourself.

Building from this repository instead:

./gradlew assembleRelease

Copy core/build/outputs/aar/core-release.aar and weaver/build/outputs/aar/weaver-release.aar into TeamCode/libs/.

Construct

Limelight3A limelight = hardwareMap.get(Limelight3A.class, "limelight");
limelight.pipelineSwitch(0);
limelight.start();

HiveVision vision = new HiveVision(limelight, new VisionConfig()
        .cameraHeightIn(12.5)
        .cameraPitchDeg(-24)
        .targetHeightIn(3.5));

Those three numbers are placeholders. See Calibration.

Read

for (Detection d : vision.fetchDetections(follower.pose())) {
    telemetry.addData("target", "%.1f, %.1f", d.getX(), d.getY());
}

• Field inches, nearest first.
• Empty when the robot pose is stale, confidence is low, or the class is filtered out.
• limelightPipeline and limelightPollingRateHz apply at construction only.

Filter

vision.setAllowedClasses(BiobuzzClasses.POLLEN);

Plan

PathResult path = WeaverRoute.from(follower.pose())
        .avoid(new CircleZone(new Point(72, 72), 18))
        .maxTargets(4)
        .plan(vision.fetchDetections(follower.pose()));

if (path != null) follower.follow(PedroPathingConverter.toPath(path));

plan returns null when there are no detections. Catch Weaver’s exceptions and fall back to a plain path.

Complete OpModes, including the Pedro follower setup: see Examples.