Limelight-Demo

Demo robot project that uses a 4-motor Victor SPX drivetrain that uses a Limelight for vision alignment

Warning: This code has not been maintained for a while and may not be compatible with the latest API. There's a good chance this might work, but I don't gurantee anything. Reference this at your own risk and remember to defer to Limelight/VexPRO/WPI documentation if you see a conflict with more recent versions of the API.

Setup Instructions

All IDEs

1. Clone this repository by executing git clone https://github.com/Uberlyuber/Limelight-Demo.git
2. Run gradlew deploy to deploy this to your robot
3. Have fun!

IntelliJ IDEA

1. Select "Import Project from Existing Sources"
2. Point it towards the build.gradle file in the root of the project

Visual Studio Code

1. Strongly recommended - download the official WPIlib plugin from the VSCode marketplace.
2. Select Open Folder and point it towards the project folder.

Code Highlights

• Uses proportional steering and driving to approach target

  • Proportional constants must be properly tuned for best performance

• Holds all the relevant information (methods, variables, results, etc) in a LimelightCamera class that can be easily manipulated or read from any other class.

• Can change the Limelight from vision processing mode to driver camera mode, and vice versa, at the press of a button.

• Follows target while button 2 on the joystick is pressed.