> 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/understanding/python-and-cpp-support.md).

# Python & C++ Support

## Python: a full, parallel port

YALL ships a Python package (`yall`) alongside the Java library, mirroring its class names and most method signatures:

```python
from yall.limelight import Limelight, EstimationMode
limelight = Limelight("limelight")
```

The Python port was translated from an earlier revision of the Java API and hasn't caught up to every recent addition — notably, there's no Python equivalent yet for `IMUResults`, `HardwareReport`, `HailoStats`, `RewindStats`, rewind capture, or USB port forwarding. A couple of method names also differ slightly (`withCameraToRobot` instead of `withCameraOffset`, `createPoseEstimator(bool)` instead of taking an `EstimationMode` enum). See the Python reference overview for the full list of differences.

For everything else — settings, pose estimation, target results — the concepts on this site apply directly; only the syntax changes.

## C++: not yet implemented

A C++ source file exists in the repository (`yall/cpp/Limelight.cpp`) as a placeholder, and the vendordep JSON currently ships no C++ artifact. If your team writes robot code in C++, track the [GitHub repository](https://github.com/BroncBotz3481/YALL) for progress rather than expecting a working C++ API today.

## See Also

* Python API reference
* Java API reference


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