How do you test with limelight at comps?

Technical
1

So while at competition. We ran into the issue that if the limelight was connected to the radio,then we couldn’t tether into the robot to test as we cant conect wirelessly. How do other teams solve this issue? It was bad because we needed to dial in values based on the limelight reading.

2

We use a network switch to increase the number of ethernet ports on our robot. With that, you should have enough to use limelight, tether, and have a few extra ports in case you need those. Hope this helps!

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3

Thanks, where would each Ethernet go on the switch?

4

You’ll have two ethernets plugged into the robot radio: one going to the Roborio and the other going to the network switch. You would then plug your limelight ethernet and tethering cable both into the network switch. I don’t believe it matters the ports in which each ethernet is connected on the network switch.

6

We use WPILib’s PortForwarder (Java, C++, WPILib docs) class so we can access our Raspberry Pi while connecting to the roboRIO via a USB-B.

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7

This dosnt allow access to the network tables

8

What switch do you sugesst

9

If all you’re tuning is your Limelight’s vision settings, you can connect directly to the Limelight via it’s Ethernet port and bypass your roboRio entirely. If you need to simultaneously connect to your LL and your Rio, I would also suggest adding an ethernet switch. We only use our switch in the pit or when testing, and then move the cables over to the radio for use on the field.

10

This is the switch we use.

https://smile.amazon.com/Brainboxes-Switch-Ports-mountable-SW-005/dp/B00FE26AL2/ref=sr_1_3?keywords=brainbox+switch&qid=1583421456&sr=8-3

11

Last year had the same issue, I brought in a network switch the day after.

12

Our team doesn’t have any true preferences towards network switches. Most of them work about the same. I know we have an industrial one on our robot for this year but I’m not sure if it really gives us that much of a benefit.

13

As mentioned earlier, WPILib has port forwarding built in now. You can connect to the Rio over USB and include this in robotInit:

    // Set up port forwarding so we can access the limelight over USB
    // visit '172.22.11.2:5800' (or 5801) in your browser (ie, Chrome) on
    // the laptop to see the limelight
    // Not sure why 5805 is required. Someone recommended it
    // Probably internal limelight networking stuff
    PortForwarder.add(5800, "limelight.local", 5800);
    PortForwarder.add(5801, "limelight.local", 5801);
    PortForwarder.add(5805, "limelight.local", 5805);

We haven’t tested it ourselves yet, but I’m pretty sure this should work.

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