Yet Another Limelight Library

Yet Another Limelight Library — a WPILib vendordep for Limelight vision on FRC robots

YALL is a WPILib vendordep for FRC teams using Limelight smart cameras. It wraps Limelight's NetworkTables API and JSON results output in a typed, chainable Java API — one object per camera, chainable settings, MegaTag1/MegaTag2 pose estimation, and typed results for every pipeline type. A parallel Python port ships alongside it.

Documentation

Tutorials, how-to guides, and explanations for using YALL on your robot.

API Reference

Every class, field, and method, organized by package.

Source

Source code, issues, and releases.

Install

Add the vendordep in WPILib VS Code (WPILib: Manage Vendor Libraries → Install new library (online)) using:

https://Yet-Another-Software-Suite.github.io/YALL/yall.json

Quick example

Limelight limelight = new Limelight("limelight");

limelight.getSettings()
         .withLimelightLEDMode(LEDMode.PipelineControl)
         .withCameraOffset(Pose3d.kZero)
         .save();

Optional<PoseEstimate> visionEstimate = limelight.createPoseEstimator(EstimationMode.MEGATAG2)
                                                  .getPoseEstimate();
visionEstimate.ifPresent(estimate ->
    poseEstimator.addVisionMeasurement(estimate.pose.toPose2d(), estimate.timestampSeconds));

Part of Yet Another Software Suite

YALL is one of several FRC vendor libraries maintained under Yet Another Software Suite, alongside YAGSL (swerve drive) and YAMS (mechanisms).