Package com.titaniumtigers4829

Class TigerHelpers

java.lang.Object
com.titaniumtigers4829.TigerHelpers
public class TigerHelpers extends Object
TigerHelpers is built on top of LimelightHelpers, providing a set of static methods and classes for interfacing with Limelights, with a dedicated focus on AprilTag pose estimation via Networktables.

It includes additional helper methods to simplify common tasks, improve integration with unit testing, and enhance usability while staying up to date with new Limelight features.

  • Constructor Details

    • TigerHelpers

      public TigerHelpers()

  • Method Details

    • getTV

      public static boolean getTV(String limelightName)
      Gets if the Limelight have a valid target?
      Parameters:
      limelightName - The name of the Limelight set in the UI ("" for default)
      Returns:
      True if a valid target is present, false otherwise

    • getTX

      public static double getTX(String limelightName)
      Gets the horizontal offset from the crosshair to the target in degrees.
      Parameters:
      limelightName - The name of the Limelight set in the UI ("" for default)
      Returns:
      Horizontal offset angle in degrees

    • getTY

      public static double getTY(String limelightName)
      Gets the vertical offset from the crosshair to the target in degrees.
      Parameters:
      limelightName - The name of the Limelight set in the UI ("" for default)
      Returns:
      Vertical offset angle in degrees

    • getTXNC

      public static double getTXNC(String limelightName)
      Gets the horizontal offset from the principal pixel/point to the target in degrees. This is the most accurate 2d metric if you are using a calibrated camera and you don't need adjustable crosshair functionality.
      Parameters:
      limelightName - The name of the Limelight set in the UI ("" for default)
      Returns:
      Horizontal offset angle in degrees

    • getTYNC

      public static double getTYNC(String limelightName)
      Gets the vertical offset from the principal pixel/point to the target in degrees. This is the most accurate 2d metric if you are using a calibrated camera and you don't need adjustable crosshair functionality.
      Parameters:
      limelightName - The name of the Limelight set in the UI ("" for default)
      Returns:
      Vertical offset angle in degrees

    • getTA

      public static double getTA(String limelightName)
      Gets the target area as a percentage of the image (0-100%).
      Parameters:
      limelightName - The name of the Limelight set in the UI ("" for default)
      Returns:
      Target area percentage (0-100%)

    • getLatencyPipeline

      public static double getLatencyPipeline(String limelightName)
      Gets the pipeline's processing latency contribution.
      Parameters:
      limelightName - The name of the Limelight set in the UI ("" for default)
      Returns:
      Pipeline latency in milliseconds

    • getLatencyCapture

      public static double getLatencyCapture(String limelightName)
      Gets the capture latency.
      Parameters:
      limelightName - The name of the Limelight set in the UI ("" for default)
      Returns:
      Capture latency in milliseconds

    • getRawFiducials

      public static RawFiducial[] getRawFiducials(String limelightName)
      Gets the latest raw fiducial/AprilTag detection results from NetworkTables.
      Parameters:
      limelightName - The name of the Limelight set in the UI ("" for default)
      Returns:
      Array of RawFiducial objects containing detection details

    • getBotPose

      public static double[] getBotPose(String limelightName)

    • getFiducialID

      public static double getFiducialID(String limelightName)

    • getBotPose3d

      public static edu.wpi.first.math.geometry.Pose3d getBotPose3d(String limelightName)

    • getBotPose3d_wpiRed

      @Deprecated public static edu.wpi.first.math.geometry.Pose3d getBotPose3d_wpiRed(String limelightName)
      Deprecated.
      (Not Recommended) Gets the robot's 3D pose in the WPILib Red Alliance Coordinate System.
      Parameters:
      limelightName - The name of the Limelight set in the UI ("" for default)
      Returns:
      Pose3d object representing the robot's position and orientation in Red Alliance field space

    • getBotPose3d_wpiBlue

      @Deprecated public static edu.wpi.first.math.geometry.Pose3d getBotPose3d_wpiBlue(String limelightName)
      Deprecated.
      (Recommended) Gets the robot's 3D pose in the WPILib Blue Alliance Coordinate System.
      Parameters:
      limelightName - The name of the Limelight set in the UI ("" for default)
      Returns:
      Pose3d object representing the robot's position and orientation in Blue Alliance field space

    • getBotPose3d_TargetSpace

      @Deprecated public static edu.wpi.first.math.geometry.Pose3d getBotPose3d_TargetSpace(String limelightName)
      Deprecated.
      Gets the robot's 3D pose with respect to the currently tracked target's coordinate system.
      Parameters:
      limelightName - The name of the Limelight set in the UI ("" for default)
      Returns:
      Pose3d object representing the robot's position and orientation relative to the target

    • getCameraPose3d_TargetSpace

      @Deprecated public static edu.wpi.first.math.geometry.Pose3d getCameraPose3d_TargetSpace(String limelightName)
      Deprecated.
      Gets the camera's 3D pose with respect to the currently tracked target's coordinate system.
      Parameters:
      limelightName - The name of the Limelight set in the UI ("" for default)
      Returns:
      Pose3d object representing the camera's position and orientation relative to the target

    • getTargetPose3d_CameraSpace

      @Deprecated public static edu.wpi.first.math.geometry.Pose3d getTargetPose3d_CameraSpace(String limelightName)
      Deprecated.
      Gets the target's 3D pose with respect to the camera's coordinate system.
      Parameters:
      limelightName - The name of the Limelight set in the UI ("" for default)
      Returns:
      Pose3d object representing the target's position and orientation relative to the camera

    • getTargetPose3d_RobotSpace

      @Deprecated public static edu.wpi.first.math.geometry.Pose3d getTargetPose3d_RobotSpace(String limelightName)
      Deprecated.
      Gets the target's 3D pose with respect to the robot's coordinate system.
      Parameters:
      limelightName - The name of the Limelight set in the UI ("" for default)
      Returns:
      Pose3d object representing the target's position and orientation relative to the robot

    • getCameraPose3d_RobotSpace

      @Deprecated public static edu.wpi.first.math.geometry.Pose3d getCameraPose3d_RobotSpace(String limelightName)
      Deprecated.
      Gets the camera's 3D pose with respect to the robot's coordinate system.
      Parameters:
      limelightName - The name of the Limelight set in the UI ("" for default)
      Returns:
      Pose3d object representing the camera's position and orientation relative to the robot

    • getBotPoseEstimate_wpiBlue

      @Deprecated public static PoseEstimate getBotPoseEstimate_wpiBlue(String limelightName)
      Deprecated.
      Gets the MegaTag1 Pose2d and timestamp for use with WPILib pose estimator (addVisionMeasurement) in the WPILib Blue alliance coordinate system.
      Parameters:
      limelightName -
      Returns:

    • getBotPoseEstimate_wpiBlue_MegaTag2

      @Deprecated public static PoseEstimate getBotPoseEstimate_wpiBlue_MegaTag2(String limelightName)
      Deprecated.
      Gets the MegaTag2 Pose2d and timestamp for use with WPILib pose estimator (addVisionMeasurement) in the WPILib Blue alliance coordinate system. Make sure you are calling {setRobotOrientation()} before calling this method.
      Parameters:
      limelightName -
      Returns:

    • getBotPoseEstimate_wpiRed

      @Deprecated public static PoseEstimate getBotPoseEstimate_wpiRed(String limelightName)
      Deprecated.
      Gets the Pose2d and timestamp for use with WPILib pose estimator (addVisionMeasurement) when you are on the RED alliance
      Parameters:
      limelightName -
      Returns:

    • getBotPoseEstimate_wpiRed_MegaTag2

      @Deprecated public static PoseEstimate getBotPoseEstimate_wpiRed_MegaTag2(String limelightName)
      Deprecated.
      Gets the Pose2d and timestamp for use with WPILib pose estimator (addVisionMeasurement) when you are on the RED alliance
      Parameters:
      limelightName -
      Returns:

    • getBotPose2d

      public static edu.wpi.first.math.geometry.Pose2d getBotPose2d(String limelightName, Botpose botpose)
      Gets the specified Pose2d for easy use with Odometry vision pose estimator (addVisionMeasurement).
      Parameters:
      limelightName - The name of the Limelight set in the UI ("" for default)
      botpose - the type of botpose to get
      Returns:
      the Pose2d of the robot relative to the origin specified by the botpose

    • getBotPose2d

      public static edu.wpi.first.math.geometry.Pose2d getBotPose2d(String limelightName)
      Gets the Pose2d with the blue-side origin for use with Odometry vision pose estimator (addVisionMeasurement).
      Parameters:
      limelightName - The name of the Limelight set in the UI ("" for default)
      Returns:
      the Pose2d of the robot relative to the blue-side origin

    • getBotPoseEstimate

      public static PoseEstimate getBotPoseEstimate(String limelightName, Botpose botpose)
      Gets the PoseEstimate for the specified Botpose type.
      Parameters:
      limelightName - The name of the Limelight set in the UI ("" for default)
      botpose - the type of botpose to get
      Returns:
      the PoseEstimate object

    • getBotPoseEstimate

      public static PoseEstimate getBotPoseEstimate(String limelightName)
      Gets the PoseEstimate with the blue-side origin using MegaTag1.
      Parameters:
      limelightName - The name of the Limelight set in the UI ("" for default)
      Returns:
      the PoseEstimate object

    • setBotPoseEstimate

      public static void setBotPoseEstimate(PoseEstimate poseEstimate, String limelightName, Botpose botpose)
      Sets the network table entry for the botpose data. This is useful for setting values for unit testing. The PoseEstimate does not contain values for the z coordinate, roll, and pitch, so these will be set to 0.
      Parameters:
      poseEstimate - the pose estimate to set
      limelightName - The name of the Limelight set in the UI ("" for default)
      botpose - the type of botpose to set (e.g., BLUE_MEGATAG1)

    • setBotPoseEstimate

      public static void setBotPoseEstimate(PoseEstimate poseEstimate, String limelightName)
      Sets the network table entry for the blue-side, MegaTag1 botpose data. This is useful for setting values for unit testing. The PoseEstimate does not contain values for the z coordinate, roll, and pitch, so these will be set to 0.
      Parameters:
      poseEstimate - the pose estimate to set
      limelightName - The name of the Limelight set in the UI ("" for default)

    • setRawFiducials

      public static void setRawFiducials(RawFiducial[] rawFiducials, String limelightName)
      Sets the network table entry for the raw fiducials. This is useful for setting values for unit testing.
      Parameters:
      rawFiducials - the array of raw fiducials to set
      limelightName - The name of the Limelight set in the UI ("" for default)

    • getIMUData

      public static IMUData getIMUData(String limelightName)
      Gets the current IMU data from NetworkTables. IMU data is formatted as [robotYaw, roll, pitch, yaw, gyroX, gyroY, gyroZ, accelX, accelY, accelZ]. Returns all zeros if data is invalid or unavailable.
      Parameters:
      limelightName - The name of the Limelight set in the UI ("" for default)
      Returns:
      IMUData object containing all current IMU data

    • setPriorityTagID

      public static void setPriorityTagID(String limelightName, int ID)
      Sets the priority tag ID for the Limelight camera. This is used to prioritize a specific tag for detection, which can be useful for tracking a specific target.
      Parameters:
      limelightName - The name of the Limelight set in the UI ("" for default)
      ID - ID of the tag to prioritize

    • setCropWindow

      public static void setCropWindow(String limelightName, double cropXMin, double cropXMax, double cropYMin, double cropYMax)
      Sets the crop window for the camera. The crop window in the UI must be completely open. This can be useful for increasing the Limelight's frame rate as the camera will only process the cropped area.
      Parameters:
      limelightName - The name of the Limelight set in the UI ("" for default)
      cropXMin - Minimum X value (-1 to 1)
      cropXMax - Maximum X value (-1 to 1)
      cropYMin - Minimum Y value (-1 to 1)
      cropYMax - Maximum Y value (-1 to 1)

    • setFiducial3DOffset

      public static void setFiducial3DOffset(String limelightName, double offsetX, double offsetY, double offsetZ)
      Sets the offset of the april tag tracking point,
      Parameters:
      limelightName - The name of the Limelight set in the UI ("" for default)
      offsetX - Offset in the X direction in meters
      offsetY - Offset in the Y direction in meters
      offsetZ - Offset in the Z direction in meters

    • setRobotOrientation

      public static void setRobotOrientation(String limelightName, double yaw, double yawRate, double pitch, double pitchRate, double roll, double rollRate)
      Sets robot orientation values used by MegaTag2 localization algorithm.
      Parameters:
      limelightName - The name of the Limelight set in the UI ("" for default)
      yaw - Robot yaw in degrees. 0 = robot facing red alliance wall in FRC
      yawRate - (Unnecessary) Angular velocity of robot yaw in degrees per second
      pitch - (Unnecessary) Robot pitch in degrees
      pitchRate - (Unnecessary) Angular velocity of robot pitch in degrees per second
      roll - (Unnecessary) Robot roll in degrees
      rollRate - (Unnecessary) Angular velocity of robot roll in degrees per second

    • setRobotOrientation

      public static void setRobotOrientation(String limelightName, double yaw)
      Sets robot yaw used by MegaTag2 localization algorithm. Puts 0 for all other orientation values.
      Parameters:
      limelightName - The name of the Limelight set in the UI ("" for default)
      yaw - Robot yaw in degrees. 0 = robot facing red alliance wall in FRC

    • setIMUMode

      @Deprecated public static void setIMUMode(String limelightName, int imuMode)
      Deprecated.
      Configures the IMU mode for MegaTag2 Localization. This method is deprecated, use setIMUMode(String, IMUMode) instead.
      Parameters:
      limelightName - Name/identifier of the Limelight
      imuMode - IMU mode, 0-4.

    • setIMUMode

      public static void setIMUMode(String limelightName, IMUData.IMUMode imuMode)
      Configures the IMU mode for MegaTag2 Localization
      Parameters:
      limelightName - The name of the Limelight set in the UI ("" for default)
      imuMode - The IMU mode to set, uses the IMUData.IMUMode enum.

    • setLimelightThrottle

      public static void setLimelightThrottle(String limelightName, int throttle)
      Sets the throttle for the Limelight camera. This is used to reduce the camera's processing load, which can be useful for decreasing temperatures.
      Parameters:
      limelightName - The name of the Limelight set in the UI ("" for default)
      throttle - Number of frames to skip between each processed frame. 0 = process every frame, 1 = process every other frame, etc.

    • setIMUAssistAlpha

      public static void setIMUAssistAlpha(String limelightName, double alpha)
      Configures the complementary filter alpha value for IMU Assist Modes (Modes 3 and 4)
      Parameters:
      limelightName - The name of the Limelight set in the UI ("" for default)
      alpha - Defaults to .001. Higher values will cause the internal IMU to converge onto the assist source more rapidly.

    • setFidcuial3DOffset

      public static void setFidcuial3DOffset(String limelightName, double x, double y, double z)
      Sets the 3D point-of-interest offset for the current fiducial pipeline. https://docs.limelightvision.io/docs/docs-limelight/pipeline-apriltag/apriltag-3d#point-of-interest-tracking
      Parameters:
      limelightName - The name of the Limelight set in the UI ("" for default)
      x - X offset in meters
      y - Y offset in meters
      z - Z offset in meters

    • setFiducialIDFiltersOverride

      public static void setFiducialIDFiltersOverride(String limelightName, int[] validIDs)
      Overrides the valid AprilTag IDs that will be used for localization. Tags not in this list will be ignored for robot pose estimation.
      Parameters:
      limelightName - The name of the Limelight set in the UI ("" for default)
      validIDs - Array of valid AprilTag IDs to track

    • setFiducialDownscalingOverride

      public static void setFiducialDownscalingOverride(String limelightName, float downscale)
      Sets the downscaling factor for AprilTag detection. Increasing downscale can improve performance at the cost of potentially reduced detection range.
      Parameters:
      limelightName - The name of the Limelight set in the UI ("" for default)
      downscale - Downscale factor. Valid values: 1.0 (no downscale), 1.5, 2.0, 3.0, 4.0. Set to 0 for pipeline control.

    • setCameraPoseRobotSpace

      public static void setCameraPoseRobotSpace(String limelightName, double forward, double side, double up, double roll, double pitch, double yaw)
      Sets the camera pose relative to the robot.
      Parameters:
      limelightName - The name of the Limelight set in the UI ("" for default)
      forward - Forward offset in meters
      side - Side offset in meters
      up - Up offset in meters
      roll - Roll angle in degrees
      pitch - Pitch angle in degrees
      yaw - Yaw angle in degrees