> 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/documentation/welcome.md).

# Welcome

Welcome to the **Yet Another Limelight Library (YALL)** documentation!

YALL is a WPILib vendordep that wraps [Limelight](https://limelightvision.io/)'s NetworkTables API and JSON results output in a typed, chainable Java (and Python) API for FRC robots. It replaces the raw `LimelightHelpers` script with real objects: a `Limelight` per camera, chainable settings, MegaTag1/MegaTag2 pose estimation, and typed results for every pipeline type — AprilTag, retroreflective, neural classifier/detector, and barcode.

### Jump right in

<table data-view="cards"><thead><tr><th></th><th></th><th></th><th data-hidden data-card-target data-type="content-ref"></th></tr></thead><tbody><tr><td><h4><i class="fa-bolt">:bolt:</i></h4></td><td><strong>Basic setup</strong></td><td>Create your first Limelight object and configure it.</td><td><a href="/pages/t1OMSdvsbDmmWdJBHx3q">/pages/t1OMSdvsbDmmWdJBHx3q</a></td></tr><tr><td><h4><i class="fa-crosshairs">:crosshairs:</i></h4></td><td><strong>AprilTag pose estimation</strong></td><td>Fuse MegaTag2 vision measurements into your pose estimator.</td><td><a href="/pages/UlyDazJw6n7EG7WMvQJ8">/pages/UlyDazJw6n7EG7WMvQJ8</a></td></tr><tr><td><h4><i class="fa-eye">:eye:</i></h4></td><td><strong>Object detection</strong></td><td>Read neural classifier and detector results.</td><td><a href="/pages/oxsFkq0Gqy7djMHqKeWi">/pages/oxsFkq0Gqy7djMHqKeWi</a></td></tr></tbody></table>

### Where to go next

* **Tutorials** — step-by-step walkthroughs for common setups.
* **How-to guides** — focused answers to specific "how do I…" questions.
* [**Tuning**](/documentation/tuning/tuning-workflow-overview.md) — the tuning steps from Limelight's own documentation, reorganized into the order you'd actually apply them: sensor settings, crosshair/camera calibration, pipeline-specific tuning, then PID.
* **Understanding** — explanations of how YALL's settings, pose estimation, and results model work.
* **API Reference** (YALL-Gitbook-API space) — every class, field, and method.
* [**Javadocs**](https://yet-another-software-suite.github.io/YALL/javadocs/) — generated API docs.
* [**GitHub**](https://github.com/BroncBotz3481/YALL) — source, issues, and releases.


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