Package com.marslib.vision

Class AprilTagVisionIOLimelight

java.lang.Object

com.marslib.vision.AprilTagVisionIOLimelight

All Implemented Interfaces:

AprilTagVisionIO

public class AprilTagVisionIOLimelight
extends Object
implements AprilTagVisionIO

Real hardware implementation of AprilTagVisionIO using a Limelight camera.

Fetches MegaTag2 pose estimates via the LimelightHelpers JSON API. Ambiguity is defaulted to 0.0 because Limelight does not expose per-target pose ambiguity natively; downstream quality control relies on distance-based standard deviation scaling in MARSVision.

Nested Class Summary

Nested classes/interfaces inherited from interface com.marslib.vision.AprilTagVisionIO

AprilTagVisionIO.AprilTagVisionIOInputs

Constructor Summary

Constructors

Constructor	Description
AprilTagVisionIOLimelight(String cameraName)

Method Summary

Modifier and Type	Method	Description
void	setRobotOrientation(double yaw, double yawRate, double pitch, double pitchRate, double roll, double rollRate)	Updates the camera configuration with the robot's current gyroscope orientation
void	updateInputs(AprilTagVisionIO.AprilTagVisionIOInputs inputs)

Methods inherited from class java.lang.Object

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

Constructor Details

AprilTagVisionIOLimelight

public AprilTagVisionIOLimelight(String cameraName)

Method Details

setRobotOrientation

public void setRobotOrientation(double yaw,
 double yawRate,
 double pitch,
 double pitchRate,
 double roll,
 double rollRate)

Description copied from interface: AprilTagVisionIO

Updates the camera configuration with the robot's current gyroscope orientation

Specified by:

setRobotOrientation in interface AprilTagVisionIO

updateInputs

public void updateInputs(AprilTagVisionIO.AprilTagVisionIOInputs inputs)

Specified by:

updateInputs in interface AprilTagVisionIO