Really simple set of questions Does the getBotPose method from Limelight return based on which Alliance we are on or do we have to choose which one.
And finally. If we have multiple pipelines do we have to set the pipeline we wish to acquire data from before asking LimelightHelpers to acquire data or do we have access to all of the data all of the time.
You have to choose which alliance coordinate system your using. If you’re looking for the pose relative to the red or blue alliance, you probably want to use botpose_wpired or botpose_wpiblue, depending which alliance you’re on.
You have to set the pipeline. You can do it with LimelightHelpers.setPipelineIndex(). Only one pipeline can be active at a time.
Thanks. What is just plain vanilla botpose then?
If I remember correctly, it is a coordinate system based on the middle of the field, with right looking at the red alliance
Slight follow up. It says in the JSON documentation for the limelight that the botpose data is available for all pipelines. So then if I wanted both botpose and detector data I could just get it from the same JSON dump without having the switch pipelines? Is this the case?
I’ve never heard of this, I don’t see how it is possible unless they process the tags then run the pipeline layers/filtering. Would be cool if that were the case, but also slow, as it is doing twice the work.
Here is where I saw it.
https://docs.limelightvision.io/en/latest/json_dump.html
Read down to
Every JSON result contains the following entries:
I would assume that means that if fiducial data is available it will send it along with the detector data, but I can’t reason it out of the document.
I can’t check right now, but I wonder if the json dump takes data from multiple limelights and combines it into the corresponding arrays? So if you only are running a tape pipeline, it leaves the pose result array empty? I’ll check that out tomorrow, would be great if it does let you use multiple pipelines at once.
No, you have to switch pipelines to go between botpose (apriltag), retroreflective, or detector targets. All of the JSON arrays are there, but they’re empty for the inactive target types.
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