I got our limelight working with rotation but distance is posing a problem. I’m trying to use the area as we are straight on with the target(Using our Test target) and the robot only reacts when the target is right up to the robot. I’m assuming that it is a tuning issue and I’m struggling with that a bit. Does anyone have any examples of it working properly?
Could you post a little more detail about the issue? Are you having an issue with the limelight recognizing the tape as a target (in which case you would need to tune the pipeline to recognize it), or is it an issue with the code not reacting to the network table values?
Also I would recommend trying to use Ty to find your distance from the target rather than area, as that value wont change based on your angle of approach.
The limelight documentation has some good examples of how to adjust thresholding.
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I’m not having an issue with anything except for using the area, on our test bot I need to use area. As for competition I will be using ty as it’s on an angle. I just have had trouble implementing area, for whatever reason the robot only moved to a distance when the target was straight in front of the robot it moved back.
Here’s an example of a working command with tune-able values from the smartdashboard (so you don’t have to constantly be re-deploying code).
It was working in our shop from about 25-30’ away, and I believe the current numbers are trying to get the robot to stop at or around the initiation line.
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