Overview

Yet Another Limelight Library (YALL) is a WPILib vendordep for Limelight smart cameras used in FRC. It wraps the raw Limelight NetworkTables API and limelight.results JSON output in a typed, chainable Java API — pose estimation (MegaTag1/MegaTag2), AprilTag/neural/retroreflective/barcode target results, raw fiducial/detection data, IMU and hardware telemetry, and Limelight configuration (LEDs, pipelines, crop windows, camera offsets, etc).

A Python port with an equivalent API surface ships alongside the Java library. A C++ port is planned but not yet implemented.

Features

• Limelight — one object per camera, resolves its NetworkTables table by name
• LimelightSettings — chainable .withXXXX() configuration for LEDs, pipelines, IMU, crop, offsets, and more
• LimelightPoseEstimator — MegaTag1/MegaTag2 pose estimates with alliance-aware helpers
• LimelightResults — full JSON limelight.results output, including all target/pipeline types
• LimelightData — direct NetworkTables reads for raw fiducials, raw detections, barcodes, and Python script I/O
• Typed target results — AprilTagFiducial, RetroreflectiveTape, NeuralClassifier, NeuralDetector, Barcode
• Hardware telemetry — IMUResults, HardwareReport, HailoStats, RewindStats (2026+ hardware)

Quick Navigation

• Java API
• Python API

For tutorials, how-to guides, and conceptual explanations, see the main YALL documentation space (YALL-Gitbook).

Supported Hardware

Device	Notes
Limelight 2/2+/3/3G/3A	AprilTag, retroreflective, neural pipelines
Limelight 4	Adds onboard IMU, rewind capture, USB networking
Hailo accelerator (LL4, sold separately)	Reported via HardwareReport.hailoStats