This may seem like a stupid question, but my team ordered a limelight last week and are expecting to get it at the end of next week. I am trying to figure out how the code will be since vision is so important this year. I know the limelight is good for the drivetrain aligning with targets as I have seen videos, but I’m not so sure it can get the offset y-distance from the target so that it can be lined up.
It does give a y value. You’ll probably want to use an encoder on your elevator or arm to get close and then use the limelight to get spot on the target.
Short answer: yes. You get offset values of the target from a cross hair. This is fairly easily converted to turn left/turn right on the drive train.
It can even be used to track game pieces, though you may have trouble differentiating between cargo and other robots.
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If the ‘limelight’ is on the elevator it can be aligned so when the Y and X values (in NetworkTable) are correct for placement of the game piece you can ‘attempt’ to complete your goal. And… To be accurate on multiple levels (Rocket Ship) the mounting of the limelight needs to be true and level.
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Knowing that the vision targets on the rocket are only placed above the lowest tier goal, I would actually recommend mounting the limelight somewhere stationary on the robot rather than the elevator. The height of the goals will always be the same regardless of robot position, so you can use an encoder on the elevator to get y position correct, and use the limelight to position the robot correctly to score.
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