> For the complete documentation index, see [llms.txt](https://yall.yassrobotics.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://yall.yassrobotics.com/api-reference/java-reference/networktables/orientation3d.md).

# Orientation3d

**Package:** `limelight.networktables`

Bundles a robot's 3D rotation with its angular velocity, in the shape MegaTag2 expects via [`LimelightSettings.withRobotOrientation`](/api-reference/java-reference/networktables/limelight-settings.md).

***

## Constructors

```java
Orientation3d(Rotation3d orientation, AngularVelocity yaw, AngularVelocity pitch, AngularVelocity roll)
Orientation3d(Rotation3d orientation, AngularVelocity3d angularVelocity)
```

***

## Fields

| Field             | Type                | Description                     |
| ----------------- | ------------------- | ------------------------------- |
| `orientation`     | `Rotation3d`        | Current robot rotation.         |
| `angularVelocity` | `AngularVelocity3d` | Current robot angular velocity. |

## Usage

```java
limelight.getSettings()
         .withRobotOrientation(new Orientation3d(
             gyro.getRotation3d(),
             new AngularVelocity3d(
                 DegreesPerSecond.of(gyro.getPitchVelocity()),
                 DegreesPerSecond.of(gyro.getRollVelocity()),
                 DegreesPerSecond.of(gyro.getYawVelocity()))))
         .save();
```

## See Also

* [AngularVelocity3d](/api-reference/java-reference/networktables/angular-velocity3d.md)
* [LimelightSettings#withRobotOrientation](/api-reference/java-reference/networktables/limelight-settings.md)


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