java.lang.Object
- frc.robot.LimelightHelpers

```
public class LimelightHelpers
extends java.lang.Object
```
LimelightHelpers provides static methods and classes for interfacing with Limelight vision cameras in FRC. This library supports all Limelight features including AprilTag tracking, Neural Networks, and standard color/retroreflective tracking.

Nested Class Summary

Nested Classes
Modifier and Type	Class	Description
`static class`	`LimelightHelpers.LimelightResults`	Limelight Results object, parsed from a Limelight's JSON results output.
`static class`	`LimelightHelpers.LimelightTarget_Barcode`	Represents a Barcode Target Result extracted from JSON Output
`static class`	`LimelightHelpers.LimelightTarget_Classifier`	Represents a Neural Classifier Pipeline Result extracted from JSON Output
`static class`	`LimelightHelpers.LimelightTarget_Detector`	Represents a Neural Detector Pipeline Result extracted from JSON Output
`static class`	`LimelightHelpers.LimelightTarget_Fiducial`	Represents an AprilTag/Fiducial Target Result extracted from JSON Output
`static class`	`LimelightHelpers.LimelightTarget_Retro`	Represents a Color/Retroreflective Target Result extracted from JSON Output
`static class`	`LimelightHelpers.PoseEstimate`	Represents a 3D Pose Estimate.
`static class`	`LimelightHelpers.RawDetection`	Represents a Limelight Raw Neural Detector result from Limelight's NetworkTables output.
`static class`	`LimelightHelpers.RawFiducial`	Represents a Limelight Raw Fiducial result from Limelight's NetworkTables output.

Constructor Summary

Constructors
Constructor Description

LimelightHelpers()

Method Summary

All Methods Static Methods Concrete Methods Deprecated Methods
Modifier and Type	Method	Description
`static void`	`Flush()`
`static double[]`	`getBotpose(java.lang.String limelightName)`	Deprecated.
`static double[]`	`getBotPose(java.lang.String limelightName)`
`static double[]`	`getBotPose_TargetSpace(java.lang.String limelightName)`
`static double[]`	`getBotpose_wpiBlue(java.lang.String limelightName)`	Deprecated.
`static double[]`	`getBotPose_wpiBlue(java.lang.String limelightName)`
`static double[]`	`getBotpose_wpiRed(java.lang.String limelightName)`	Deprecated.
`static double[]`	`getBotPose_wpiRed(java.lang.String limelightName)`
`static Pose2d`	`getBotPose2d(java.lang.String limelightName)`	Gets the Pose2d for easy use with Odometry vision pose estimator (addVisionMeasurement)
`static Pose2d`	`getBotPose2d_wpiBlue(java.lang.String limelightName)`	Gets the Pose2d for easy use with Odometry vision pose estimator (addVisionMeasurement)
`static Pose2d`	`getBotPose2d_wpiRed(java.lang.String limelightName)`	Gets the Pose2d for easy use with Odometry vision pose estimator (addVisionMeasurement)
`static Pose3d`	`getBotPose3d(java.lang.String limelightName)`
`static Pose3d`	`getBotPose3d_TargetSpace(java.lang.String limelightName)`	Gets the robot's 3D pose with respect to the currently tracked target's coordinate system.
`static Pose3d`	`getBotPose3d_wpiBlue(java.lang.String limelightName)`	(Recommended) Gets the robot's 3D pose in the WPILib Blue Alliance Coordinate System.
`static Pose3d`	`getBotPose3d_wpiRed(java.lang.String limelightName)`	(Not Recommended) Gets the robot's 3D pose in the WPILib Red Alliance Coordinate System.
`static LimelightHelpers.PoseEstimate`	`getBotPoseEstimate_wpiBlue(java.lang.String limelightName)`	Gets the MegaTag1 Pose2d and timestamp for use with WPILib pose estimator (addVisionMeasurement) in the WPILib Blue alliance coordinate system.
`static LimelightHelpers.PoseEstimate`	`getBotPoseEstimate_wpiBlue_MegaTag2(java.lang.String limelightName)`	Gets the MegaTag2 Pose2d and timestamp for use with WPILib pose estimator (addVisionMeasurement) in the WPILib Blue alliance coordinate system.
`static LimelightHelpers.PoseEstimate`	`getBotPoseEstimate_wpiRed(java.lang.String limelightName)`	Gets the Pose2d and timestamp for use with WPILib pose estimator (addVisionMeasurement) when you are on the RED alliance
`static LimelightHelpers.PoseEstimate`	`getBotPoseEstimate_wpiRed_MegaTag2(java.lang.String limelightName)`	Gets the Pose2d and timestamp for use with WPILib pose estimator (addVisionMeasurement) when you are on the RED alliance
`static double[]`	`getCameraPose_TargetSpace(java.lang.String limelightName)`
`static Pose3d`	`getCameraPose3d_RobotSpace(java.lang.String limelightName)`	Gets the camera's 3D pose with respect to the robot's coordinate system.
`static Pose3d`	`getCameraPose3d_TargetSpace(java.lang.String limelightName)`	Gets the camera's 3D pose with respect to the currently tracked target's coordinate system.
`static java.lang.String`	`getClassifierClass(java.lang.String limelightName)`	Gets the current neural classifier result class name.
`static int`	`getClassifierClassIndex(java.lang.String limelightName)`	Gets the classifier class index from the currently running neural classifier pipeline
`static double`	`getCurrentPipelineIndex(java.lang.String limelightName)`	Gets the active pipeline index.
`static java.lang.String`	`getCurrentPipelineType(java.lang.String limelightName)`	Gets the current pipeline type.
`static java.lang.String`	`getDetectorClass(java.lang.String limelightName)`	Gets the primary neural detector result class name.
`static int`	`getDetectorClassIndex(java.lang.String limelightName)`	Gets the detector class index from the primary result of the currently running neural detector pipeline.
`static double`	`getFiducialID(java.lang.String limelightName)`
`static java.lang.String`	`getJSONDump(java.lang.String limelightName)`	Gets the full JSON results dump.
`static double`	`getLatency_Capture(java.lang.String limelightName)`	Gets the capture latency.
`static double`	`getLatency_Pipeline(java.lang.String limelightName)`	Gets the pipeline's processing latency contribution.
`static LimelightHelpers.LimelightResults`	`getLatestResults(java.lang.String limelightName)`	Gets the latest JSON results output and returns a LimelightResults object.
`static DoubleArrayEntry`	`getLimelightDoubleArrayEntry(java.lang.String tableName, java.lang.String entryName)`
`static double`	`getLimelightNTDouble(java.lang.String tableName, java.lang.String entryName)`
`static double[]`	`getLimelightNTDoubleArray(java.lang.String tableName, java.lang.String entryName)`
`static java.lang.String`	`getLimelightNTString(java.lang.String tableName, java.lang.String entryName)`
`static java.lang.String[]`	`getLimelightNTStringArray(java.lang.String tableName, java.lang.String entryName)`
`static NetworkTable`	`getLimelightNTTable(java.lang.String tableName)`
`static NetworkTableEntry`	`getLimelightNTTableEntry(java.lang.String tableName, java.lang.String entryName)`
`static java.net.URL`	`getLimelightURLString(java.lang.String tableName, java.lang.String request)`
`static java.lang.String`	`getNeuralClassID(java.lang.String limelightName)`
`static double[]`	`getPythonScriptData(java.lang.String limelightName)`
`static java.lang.String[]`	`getRawBarcodeData(java.lang.String limelightName)`
`static LimelightHelpers.RawDetection[]`	`getRawDetections(java.lang.String limelightName)`	Gets the latest raw neural detector results from NetworkTables
`static LimelightHelpers.RawFiducial[]`	`getRawFiducials(java.lang.String limelightName)`	Gets the latest raw fiducial/AprilTag detection results from NetworkTables.
`static double[]`	`getT2DArray(java.lang.String limelightName)`	T2D is an array that contains several targeting metrcis
`static double`	`getTA(java.lang.String limelightName)`	Gets the target area as a percentage of the image (0-100%).
`static double[]`	`getTargetColor(java.lang.String limelightName)`
`static int`	`getTargetCount(java.lang.String limelightName)`	Gets the number of targets currently detected.
`static double[]`	`getTargetPose_CameraSpace(java.lang.String limelightName)`
`static double[]`	`getTargetPose_RobotSpace(java.lang.String limelightName)`
`static Pose3d`	`getTargetPose3d_CameraSpace(java.lang.String limelightName)`	Gets the target's 3D pose with respect to the camera's coordinate system.
`static Pose3d`	`getTargetPose3d_RobotSpace(java.lang.String limelightName)`	Gets the target's 3D pose with respect to the robot's coordinate system.
`static boolean`	`getTV(java.lang.String limelightName)`	Does the Limelight have a valid target?
`static double`	`getTX(java.lang.String limelightName)`	Gets the horizontal offset from the crosshair to the target in degrees.
`static double`	`getTXNC(java.lang.String limelightName)`	Gets the horizontal offset from the principal pixel/point to the target in degrees.
`static double`	`getTY(java.lang.String limelightName)`	Gets the vertical offset from the crosshair to the target in degrees.
`static double`	`getTYNC(java.lang.String limelightName)`	Gets the vertical offset from the principal pixel/point to the target in degrees.
`static double[]`	`pose2dToArray(Pose2d pose)`	Converts a Pose2d object to an array of doubles in the format [x, y, z, roll, pitch, yaw].
`static double[]`	`pose3dToArray(Pose3d pose)`	Converts a Pose3d object to an array of doubles in the format [x, y, z, roll, pitch, yaw].
`static void`	`printPoseEstimate(LimelightHelpers.PoseEstimate pose)`	Prints detailed information about a PoseEstimate to standard output.
`static void`	`setCameraPose_RobotSpace(java.lang.String limelightName, double forward, double side, double up, double roll, double pitch, double yaw)`	Sets the camera pose relative to the robot.
`static void`	`setCropWindow(java.lang.String limelightName, double cropXMin, double cropXMax, double cropYMin, double cropYMax)`	Sets the crop window for the camera.
`static void`	`SetFidcuial3DOffset(java.lang.String limelightName, double x, double y, double z)`	Sets the 3D point-of-interest offset for the current fiducial pipeline.
`static void`	`setFiducial3DOffset(java.lang.String limelightName, double offsetX, double offsetY, double offsetZ)`	Sets 3D offset point for easy 3D targeting.
`static void`	`SetFiducialDownscalingOverride(java.lang.String limelightName, float downscale)`	Sets the downscaling factor for AprilTag detection.
`static void`	`SetFiducialIDFiltersOverride(java.lang.String limelightName, int[] validIDs)`	Overrides the valid AprilTag IDs that will be used for localization.
`static void`	`setLEDMode_ForceBlink(java.lang.String limelightName)`
`static void`	`setLEDMode_ForceOff(java.lang.String limelightName)`
`static void`	`setLEDMode_ForceOn(java.lang.String limelightName)`
`static void`	`setLEDMode_PipelineControl(java.lang.String limelightName)`	Sets LED mode to be controlled by the current pipeline.
`static void`	`setLimelightNTDouble(java.lang.String tableName, java.lang.String entryName, double val)`
`static void`	`setLimelightNTDoubleArray(java.lang.String tableName, java.lang.String entryName, double[] val)`
`static void`	`setPipelineIndex(java.lang.String limelightName, int pipelineIndex)`
`static void`	`setPriorityTagID(java.lang.String limelightName, int ID)`
`static void`	`setPythonScriptData(java.lang.String limelightName, double[] outgoingPythonData)`
`static void`	`SetRobotOrientation(java.lang.String limelightName, double yaw, double yawRate, double pitch, double pitchRate, double roll, double rollRate)`	Sets robot orientation values used by MegaTag2 localization algorithm.
`static void`	`SetRobotOrientation_NoFlush(java.lang.String limelightName, double yaw, double yawRate, double pitch, double pitchRate, double roll, double rollRate)`
`static void`	`setStreamMode_PiPMain(java.lang.String limelightName)`	Enables Picture-in-Picture mode with secondary stream in the corner.
`static void`	`setStreamMode_PiPSecondary(java.lang.String limelightName)`	Enables Picture-in-Picture mode with primary stream in the corner.
`static void`	`setStreamMode_Standard(java.lang.String limelightName)`	Enables standard side-by-side stream mode.
`static java.util.concurrent.CompletableFuture<java.lang.Boolean>`	`takeSnapshot(java.lang.String tableName, java.lang.String snapshotName)`	Asynchronously take snapshot.
`static Pose2d`	`toPose2D(double[] inData)`	Takes a 6-length array of pose data and converts it to a Pose2d object.
`static Pose3d`	`toPose3D(double[] inData)`	Takes a 6-length array of pose data and converts it to a Pose3d object.
`static java.lang.Boolean`	`validPoseEstimate(LimelightHelpers.PoseEstimate pose)`

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Constructor Detail
  - LimelightHelpers
```
public LimelightHelpers()
```
- Method Detail
  - toPose3D
```
public static Pose3d toPose3D(double[] inData)
```
    Takes a 6-length array of pose data and converts it to a Pose3d object. Array format: [x, y, z, roll, pitch, yaw] where angles are in degrees.
    
    Parameters:
    
    inData - Array containing pose data [x, y, z, roll, pitch, yaw]
    
    Returns:
    
    Pose3d object representing the pose, or empty Pose3d if invalid data
  - toPose2D
```
public static Pose2d toPose2D(double[] inData)
```
    Takes a 6-length array of pose data and converts it to a Pose2d object. Uses only x, y, and yaw components, ignoring z, roll, and pitch. Array format: [x, y, z, roll, pitch, yaw] where angles are in degrees.
    
    Parameters:
    
    inData - Array containing pose data [x, y, z, roll, pitch, yaw]
    
    Returns:
    
    Pose2d object representing the pose, or empty Pose2d if invalid data
  - pose3dToArray
```
public static double[] pose3dToArray(Pose3d pose)
```
    Converts a Pose3d object to an array of doubles in the format [x, y, z, roll, pitch, yaw]. Translation components are in meters, rotation components are in degrees.
    
    Parameters:
    
    pose - The Pose3d object to convert
    
    Returns:
    
    A 6-element array containing [x, y, z, roll, pitch, yaw]
  - pose2dToArray
```
public static double[] pose2dToArray(Pose2d pose)
```
    Converts a Pose2d object to an array of doubles in the format [x, y, z, roll, pitch, yaw]. Translation components are in meters, rotation components are in degrees. Note: z, roll, and pitch will be 0 since Pose2d only contains x, y, and yaw.
    
    Parameters:
    
    pose - The Pose2d object to convert
    
    Returns:
    
    A 6-element array containing [x, y, 0, 0, 0, yaw]
  - getRawFiducials
```
public static LimelightHelpers.RawFiducial[] getRawFiducials(java.lang.String limelightName)
```
    Gets the latest raw fiducial/AprilTag detection results from NetworkTables.
    
    Parameters:
    
    limelightName - Name/identifier of the Limelight
    
    Returns:
    
    Array of RawFiducial objects containing detection details
  - getRawDetections
```
public static LimelightHelpers.RawDetection[] getRawDetections(java.lang.String limelightName)
```
    Gets the latest raw neural detector results from NetworkTables
    
    Parameters:
    
    limelightName - Name/identifier of the Limelight
    
    Returns:
    
    Array of RawDetection objects containing detection details
  - printPoseEstimate
```
public static void printPoseEstimate(LimelightHelpers.PoseEstimate pose)
```
    Prints detailed information about a PoseEstimate to standard output. Includes timestamp, latency, tag count, tag span, average tag distance, average tag area, and detailed information about each detected fiducial.
    
    Parameters:
    
    pose - The PoseEstimate object to print. If null, prints "No PoseEstimate available."
  - validPoseEstimate
```
public static java.lang.Boolean validPoseEstimate(LimelightHelpers.PoseEstimate pose)
```
  - getLimelightNTTable
```
public static NetworkTable getLimelightNTTable(java.lang.String tableName)
```
  - Flush
```
public static void Flush()
```
  - getLimelightNTTableEntry
```
public static NetworkTableEntry getLimelightNTTableEntry(java.lang.String tableName,
                                                         java.lang.String entryName)
```
  - getLimelightDoubleArrayEntry
```
public static DoubleArrayEntry getLimelightDoubleArrayEntry(java.lang.String tableName,
                                                            java.lang.String entryName)
```
  - getLimelightNTDouble
```
public static double getLimelightNTDouble(java.lang.String tableName,
                                          java.lang.String entryName)
```
  - setLimelightNTDouble
```
public static void setLimelightNTDouble(java.lang.String tableName,
                                        java.lang.String entryName,
                                        double val)
```
  - setLimelightNTDoubleArray
```
public static void setLimelightNTDoubleArray(java.lang.String tableName,
                                             java.lang.String entryName,
                                             double[] val)
```
  - getLimelightNTDoubleArray
```
public static double[] getLimelightNTDoubleArray(java.lang.String tableName,
                                                 java.lang.String entryName)
```
  - getLimelightNTString
```
public static java.lang.String getLimelightNTString(java.lang.String tableName,
                                                    java.lang.String entryName)
```
  - getLimelightNTStringArray
```
public static java.lang.String[] getLimelightNTStringArray(java.lang.String tableName,
                                                           java.lang.String entryName)
```
  - getLimelightURLString
```
public static java.net.URL getLimelightURLString(java.lang.String tableName,
                                                 java.lang.String request)
```
  - getTV
```
public static boolean getTV(java.lang.String limelightName)
```
    Does the Limelight have a valid target?
    
    Parameters:
    
    limelightName - Name of the Limelight camera ("" for default)
    
    Returns:
    
    True if a valid target is present, false otherwise
  - getTX
```
public static double getTX(java.lang.String limelightName)
```
    Gets the horizontal offset from the crosshair to the target in degrees.
    
    Parameters:
    
    limelightName - Name of the Limelight camera ("" for default)
    
    Returns:
    
    Horizontal offset angle in degrees
  - getTY
```
public static double getTY(java.lang.String limelightName)
```
    Gets the vertical offset from the crosshair to the target in degrees.
    
    Parameters:
    
    limelightName - Name of the Limelight camera ("" for default)
    
    Returns:
    
    Vertical offset angle in degrees
  - getTXNC
```
public static double getTXNC(java.lang.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 - Name of the Limelight camera ("" for default)
    
    Returns:
    
    Horizontal offset angle in degrees
  - getTYNC
```
public static double getTYNC(java.lang.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 - Name of the Limelight camera ("" for default)
    
    Returns:
    
    Vertical offset angle in degrees
  - getTA
```
public static double getTA(java.lang.String limelightName)
```
    Gets the target area as a percentage of the image (0-100%).
    
    Parameters:
    
    limelightName - Name of the Limelight camera ("" for default)
    
    Returns:
    
    Target area percentage (0-100)
  - getT2DArray
```
public static double[] getT2DArray(java.lang.String limelightName)
```
    T2D is an array that contains several targeting metrcis
    
    Parameters:
    
    limelightName - Name of the Limelight camera
    
    Returns:
    
    Array containing [targetValid, targetCount, targetLatency, captureLatency, tx, ty, txnc, tync, ta, tid, targetClassIndexDetector, targetClassIndexClassifier, targetLongSidePixels, targetShortSidePixels, targetHorizontalExtentPixels, targetVerticalExtentPixels, targetSkewDegrees]
  - getTargetCount
```
public static int getTargetCount(java.lang.String limelightName)
```
    Gets the number of targets currently detected.
    
    Parameters:
    
    limelightName - Name of the Limelight camera
    
    Returns:
    
    Number of detected targets
  - getClassifierClassIndex
```
public static int getClassifierClassIndex(java.lang.String limelightName)
```
    Gets the classifier class index from the currently running neural classifier pipeline
    
    Parameters:
    
    limelightName - Name of the Limelight camera
    
    Returns:
    
    Class index from classifier pipeline
  - getDetectorClassIndex
```
public static int getDetectorClassIndex(java.lang.String limelightName)
```
    Gets the detector class index from the primary result of the currently running neural detector pipeline.
    
    Parameters:
    
    limelightName - Name of the Limelight camera
    
    Returns:
    
    Class index from detector pipeline
  - getClassifierClass
```
public static java.lang.String getClassifierClass(java.lang.String limelightName)
```
    Gets the current neural classifier result class name.
    
    Parameters:
    
    limelightName - Name of the Limelight camera
    
    Returns:
    
    Class name string from classifier pipeline
  - getDetectorClass
```
public static java.lang.String getDetectorClass(java.lang.String limelightName)
```
    Gets the primary neural detector result class name.
    
    Parameters:
    
    limelightName - Name of the Limelight camera
    
    Returns:
    
    Class name string from detector pipeline
  - getLatency_Pipeline
```
public static double getLatency_Pipeline(java.lang.String limelightName)
```
    Gets the pipeline's processing latency contribution.
    
    Parameters:
    
    limelightName - Name of the Limelight camera
    
    Returns:
    
    Pipeline latency in milliseconds
  - getLatency_Capture
```
public static double getLatency_Capture(java.lang.String limelightName)
```
    Gets the capture latency.
    
    Parameters:
    
    limelightName - Name of the Limelight camera
    
    Returns:
    
    Capture latency in milliseconds
  - getCurrentPipelineIndex
```
public static double getCurrentPipelineIndex(java.lang.String limelightName)
```
    Gets the active pipeline index.
    
    Parameters:
    
    limelightName - Name of the Limelight camera
    
    Returns:
    
    Current pipeline index (0-9)
  - getCurrentPipelineType
```
public static java.lang.String getCurrentPipelineType(java.lang.String limelightName)
```
    Gets the current pipeline type.
    
    Parameters:
    
    limelightName - Name of the Limelight camera
    
    Returns:
    
    Pipeline type string (e.g. "retro", "apriltag", etc)
  - getJSONDump
```
public static java.lang.String getJSONDump(java.lang.String limelightName)
```
    Gets the full JSON results dump.
    
    Parameters:
    
    limelightName - Name of the Limelight camera
    
    Returns:
    
    JSON string containing all current results
  - getBotpose
```
@Deprecated
public static double[] getBotpose(java.lang.String limelightName)
```
    Deprecated.
    
    Switch to getBotPose
    
    Parameters:
    
    limelightName -
    
    Returns:
  - getBotpose_wpiRed
```
@Deprecated
public static double[] getBotpose_wpiRed(java.lang.String limelightName)
```
    Deprecated.
    
    Switch to getBotPose_wpiRed
    
    Parameters:
    
    limelightName -
    
    Returns:
  - getBotpose_wpiBlue
```
@Deprecated
public static double[] getBotpose_wpiBlue(java.lang.String limelightName)
```
    Deprecated.
    
    Switch to getBotPose_wpiBlue
    
    Parameters:
    
    limelightName -
    
    Returns:
  - getBotPose
```
public static double[] getBotPose(java.lang.String limelightName)
```
  - getBotPose_wpiRed
```
public static double[] getBotPose_wpiRed(java.lang.String limelightName)
```
  - getBotPose_wpiBlue
```
public static double[] getBotPose_wpiBlue(java.lang.String limelightName)
```
  - getBotPose_TargetSpace
```
public static double[] getBotPose_TargetSpace(java.lang.String limelightName)
```
  - getCameraPose_TargetSpace
```
public static double[] getCameraPose_TargetSpace(java.lang.String limelightName)
```
  - getTargetPose_CameraSpace
```
public static double[] getTargetPose_CameraSpace(java.lang.String limelightName)
```
  - getTargetPose_RobotSpace
```
public static double[] getTargetPose_RobotSpace(java.lang.String limelightName)
```
  - getTargetColor
```
public static double[] getTargetColor(java.lang.String limelightName)
```
  - getFiducialID
```
public static double getFiducialID(java.lang.String limelightName)
```
  - getNeuralClassID
```
public static java.lang.String getNeuralClassID(java.lang.String limelightName)
```
  - getRawBarcodeData
```
public static java.lang.String[] getRawBarcodeData(java.lang.String limelightName)
```
  - getBotPose3d
```
public static Pose3d getBotPose3d(java.lang.String limelightName)
```
  - getBotPose3d_wpiRed
```
public static Pose3d getBotPose3d_wpiRed(java.lang.String limelightName)
```
    (Not Recommended) Gets the robot's 3D pose in the WPILib Red Alliance Coordinate System.
    
    Parameters:
    
    limelightName - Name/identifier of the Limelight
    
    Returns:
    
    Pose3d object representing the robot's position and orientation in Red Alliance field space
  - getBotPose3d_wpiBlue
```
public static Pose3d getBotPose3d_wpiBlue(java.lang.String limelightName)
```
    (Recommended) Gets the robot's 3D pose in the WPILib Blue Alliance Coordinate System.
    
    Parameters:
    
    limelightName - Name/identifier of the Limelight
    
    Returns:
    
    Pose3d object representing the robot's position and orientation in Blue Alliance field space
  - getBotPose3d_TargetSpace
```
public static Pose3d getBotPose3d_TargetSpace(java.lang.String limelightName)
```
    Gets the robot's 3D pose with respect to the currently tracked target's coordinate system.
    
    Parameters:
    
    limelightName - Name/identifier of the Limelight
    
    Returns:
    
    Pose3d object representing the robot's position and orientation relative to the target
  - getCameraPose3d_TargetSpace
```
public static Pose3d getCameraPose3d_TargetSpace(java.lang.String limelightName)
```
    Gets the camera's 3D pose with respect to the currently tracked target's coordinate system.
    
    Parameters:
    
    limelightName - Name/identifier of the Limelight
    
    Returns:
    
    Pose3d object representing the camera's position and orientation relative to the target
  - getTargetPose3d_CameraSpace
```
public static Pose3d getTargetPose3d_CameraSpace(java.lang.String limelightName)
```
    Gets the target's 3D pose with respect to the camera's coordinate system.
    
    Parameters:
    
    limelightName - Name/identifier of the Limelight
    
    Returns:
    
    Pose3d object representing the target's position and orientation relative to the camera
  - getTargetPose3d_RobotSpace
```
public static Pose3d getTargetPose3d_RobotSpace(java.lang.String limelightName)
```
    Gets the target's 3D pose with respect to the robot's coordinate system.
    
    Parameters:
    
    limelightName - Name/identifier of the Limelight
    
    Returns:
    
    Pose3d object representing the target's position and orientation relative to the robot
  - getCameraPose3d_RobotSpace
```
public static Pose3d getCameraPose3d_RobotSpace(java.lang.String limelightName)
```
    Gets the camera's 3D pose with respect to the robot's coordinate system.
    
    Parameters:
    
    limelightName - Name/identifier of the Limelight
    
    Returns:
    
    Pose3d object representing the camera's position and orientation relative to the robot
  - getBotPose2d_wpiBlue
```
public static Pose2d getBotPose2d_wpiBlue(java.lang.String limelightName)
```
    Gets the Pose2d for easy use with Odometry vision pose estimator (addVisionMeasurement)
    
    Parameters:
    
    limelightName -
    
    Returns:
  - getBotPoseEstimate_wpiBlue
```
public static LimelightHelpers.PoseEstimate getBotPoseEstimate_wpiBlue(java.lang.String limelightName)
```
    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
```
public static LimelightHelpers.PoseEstimate getBotPoseEstimate_wpiBlue_MegaTag2(java.lang.String limelightName)
```
    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:
  - getBotPose2d_wpiRed
```
public static Pose2d getBotPose2d_wpiRed(java.lang.String limelightName)
```
    Gets the Pose2d for easy use with Odometry vision pose estimator (addVisionMeasurement)
    
    Parameters:
    
    limelightName -
    
    Returns:
  - getBotPoseEstimate_wpiRed
```
public static LimelightHelpers.PoseEstimate getBotPoseEstimate_wpiRed(java.lang.String limelightName)
```
    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
```
public static LimelightHelpers.PoseEstimate getBotPoseEstimate_wpiRed_MegaTag2(java.lang.String limelightName)
```
    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 Pose2d getBotPose2d(java.lang.String limelightName)
```
    Gets the Pose2d for easy use with Odometry vision pose estimator (addVisionMeasurement)
    
    Parameters:
    
    limelightName -
    
    Returns:
  - setPipelineIndex
```
public static void setPipelineIndex(java.lang.String limelightName,
                                    int pipelineIndex)
```
  - setPriorityTagID
```
public static void setPriorityTagID(java.lang.String limelightName,
                                    int ID)
```
  - setLEDMode_PipelineControl
```
public static void setLEDMode_PipelineControl(java.lang.String limelightName)
```
    Sets LED mode to be controlled by the current pipeline.
    
    Parameters:
    
    limelightName - Name of the Limelight camera
  - setLEDMode_ForceOff
```
public static void setLEDMode_ForceOff(java.lang.String limelightName)
```
  - setLEDMode_ForceBlink
```
public static void setLEDMode_ForceBlink(java.lang.String limelightName)
```
  - setLEDMode_ForceOn
```
public static void setLEDMode_ForceOn(java.lang.String limelightName)
```
  - setStreamMode_Standard
```
public static void setStreamMode_Standard(java.lang.String limelightName)
```
    Enables standard side-by-side stream mode.
    
    Parameters:
    
    limelightName - Name of the Limelight camera
  - setStreamMode_PiPMain
```
public static void setStreamMode_PiPMain(java.lang.String limelightName)
```
    Enables Picture-in-Picture mode with secondary stream in the corner.
    
    Parameters:
    
    limelightName - Name of the Limelight camera
  - setStreamMode_PiPSecondary
```
public static void setStreamMode_PiPSecondary(java.lang.String limelightName)
```
    Enables Picture-in-Picture mode with primary stream in the corner.
    
    Parameters:
    
    limelightName - Name of the Limelight camera
  - setCropWindow
```
public static void setCropWindow(java.lang.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.
    
    Parameters:
    
    limelightName - Name of the Limelight camera
    
    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(java.lang.String limelightName,
                                       double offsetX,
                                       double offsetY,
                                       double offsetZ)
```
    Sets 3D offset point for easy 3D targeting.
  - SetRobotOrientation
```
public static void SetRobotOrientation(java.lang.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 - Name/identifier of the Limelight
    
    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_NoFlush
```
public static void SetRobotOrientation_NoFlush(java.lang.String limelightName,
                                               double yaw,
                                               double yawRate,
                                               double pitch,
                                               double pitchRate,
                                               double roll,
                                               double rollRate)
```
  - SetFidcuial3DOffset
```
public static void SetFidcuial3DOffset(java.lang.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 - Name/identifier of the Limelight
    
    x - X offset in meters
    
    y - Y offset in meters
    
    z - Z offset in meters
  - SetFiducialIDFiltersOverride
```
public static void SetFiducialIDFiltersOverride(java.lang.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 - Name/identifier of the Limelight
    
    validIDs - Array of valid AprilTag IDs to track
  - SetFiducialDownscalingOverride
```
public static void SetFiducialDownscalingOverride(java.lang.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 - Name/identifier of the Limelight
    
    downscale - Downscale factor. Valid values: 1.0 (no downscale), 1.5, 2.0, 3.0, 4.0. Set to 0 for pipeline control.
  - setCameraPose_RobotSpace
```
public static void setCameraPose_RobotSpace(java.lang.String limelightName,
                                            double forward,
                                            double side,
                                            double up,
                                            double roll,
                                            double pitch,
                                            double yaw)
```
    Sets the camera pose relative to the robot.
    
    Parameters:
    
    limelightName - Name of the Limelight camera
    
    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
  - setPythonScriptData
```
public static void setPythonScriptData(java.lang.String limelightName,
                                       double[] outgoingPythonData)
```
  - getPythonScriptData
```
public static double[] getPythonScriptData(java.lang.String limelightName)
```
  - takeSnapshot
```
public static java.util.concurrent.CompletableFuture<java.lang.Boolean> takeSnapshot(java.lang.String tableName,
                                                                                     java.lang.String snapshotName)
```
    Asynchronously take snapshot.
  - getLatestResults
```
public static LimelightHelpers.LimelightResults getLatestResults(java.lang.String limelightName)
```
    Gets the latest JSON results output and returns a LimelightResults object.
    
    Parameters:
    
    limelightName - Name of the Limelight camera
    
    Returns:
    
    LimelightResults object containing all current target data

Class LimelightHelpers

Nested Class Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Constructor Detail

LimelightHelpers

Method Detail

toPose3D

toPose2D

pose3dToArray

pose2dToArray

getRawFiducials

getRawDetections

printPoseEstimate

validPoseEstimate

getLimelightNTTable

Flush

getLimelightNTTableEntry

getLimelightDoubleArrayEntry

getLimelightNTDouble

setLimelightNTDouble

setLimelightNTDoubleArray

getLimelightNTDoubleArray

getLimelightNTString

getLimelightNTStringArray

getLimelightURLString

getTV

getTX

getTY

getTXNC

getTYNC

getTA

getT2DArray

getTargetCount

getClassifierClassIndex

getDetectorClassIndex

getClassifierClass

getDetectorClass

getLatency_Pipeline

getLatency_Capture

getCurrentPipelineIndex

getCurrentPipelineType

getJSONDump

getBotpose

getBotpose_wpiRed

getBotpose_wpiBlue

getBotPose

getBotPose_wpiRed

getBotPose_wpiBlue

getBotPose_TargetSpace

getCameraPose_TargetSpace

getTargetPose_CameraSpace

getTargetPose_RobotSpace

getTargetColor

getFiducialID

getNeuralClassID

getRawBarcodeData

getBotPose3d

getBotPose3d_wpiRed

getBotPose3d_wpiBlue

getBotPose3d_TargetSpace

getCameraPose3d_TargetSpace

getTargetPose3d_CameraSpace

getTargetPose3d_RobotSpace

getCameraPose3d_RobotSpace

getBotPose2d_wpiBlue

getBotPoseEstimate_wpiBlue

getBotPoseEstimate_wpiBlue_MegaTag2

getBotPose2d_wpiRed

getBotPoseEstimate_wpiRed

getBotPoseEstimate_wpiRed_MegaTag2

getBotPose2d

setPipelineIndex

setPriorityTagID

setLEDMode_PipelineControl

setLEDMode_ForceOff

setLEDMode_ForceBlink

setLEDMode_ForceOn

setStreamMode_Standard