JLimelight

A Java library that wraps the Limelight API. This library was intended to be an easy replacement to the NetworkTables API.

Table Of Contents

• JLimelight
  • Table Of Contents
  • Features
  • Basic Usage

Features

• Simple Implementation: JLimelight doesn't re-invent the wheel; it uses the Limelight NetworkTables API that teams would normally use.
• Simple To Use: Unlike the NetworkTables API, JLimelight was designed to be easy to use without having to reference the documentation. That is, all NetworkTables keys are wrapped in easy-to-read functions.
• Pure, Native Java: Instead of pulling keys from a hash table to interface with your Limelight, you can construct a Java Limelight object that you can easily push and pull data from and to. Written in Java by Java developers, JLimelight takes advantage of the Java language and follows all the conventions of Java libraries. This makes for seamless integration with your Java robotics projects.
• Complete: The entire working Limelight API is implemented in this library.

Basic Usage

To include JLimelight in your robot project, you can either:

1. Use the WPILib VSCode extension to install the vendor libraries. Go to your WPILib command palette, select "Manage Vendor Libraries" and install a new library using the "online" install method. Input the URL below.
2. Download the vendor library JSON file located at the URL below, then drop it into your vendordeps folder.

Vendor dependency URL : https://maven.bancino.net/JLimelight.json

Usage of this library is simple, all you have to do is create a Limelight object whereever you create your subsystems. We typically do it right in our Robot.java, or we create a static Subsystems class.

import net.bancino.robotics.jlimelight.Limelight;
/* ... */

Limelight limelight = new Limelight();

Then you can access limelight methods such as:

if (limelight.hasValidTargets()) {
    double area = limelight.getTargetArea();
}

See, it's easy!

Make sure you check out the JavaDoc for complete usage. You can view the Javadoc here, or build it by running gradle javadoc and then reference build/docs/javadoc/index.html.