Enum Class Limelight.PoseEstimateType

java.lang.Object

java.lang.Enum<Limelight.PoseEstimateType>

com.limelightvision.Limelight.PoseEstimateType

All Implemented Interfaces:

Serializable, Comparable<Limelight.PoseEstimateType>, Constable

Enclosing class:

Limelight

public static enum Limelight.PoseEstimateType
extends Enum<Limelight.PoseEstimateType>

The robot pose estimate outputs. Names use the form {algorithm}_{origin}.

MegaTag1 (MT1) computes the full robot pose from tag geometry only. MegaTag2 (MT2) also uses the robot orientation from Limelight.setRobotOrientation(double, boolean) or Limelight.setSharedRobotOrientation(double). MT2 is usually more stable. MT2 requires you to publish the orientation every loop.

Nested Class Summary

Nested classes/interfaces inherited from class Enum

Enum.EnumDesc<E>

Enum Constant Summary

Enum Constants

Enum Constant	Description
MT1_WPIBLUE	MegaTag1, WPILib blue-alliance-corner origin (botpose_wpiblue).
MT1_WPIRED	MegaTag1, WPILib red-alliance-corner origin (botpose_wpired).
MT2_WPIBLUE	MegaTag2, WPILib blue-alliance-corner origin (botpose_orb_wpiblue).
MT2_WPIRED	MegaTag2, WPILib red-alliance-corner origin (botpose_orb_wpired).

Method Summary

Modifier and Type	Method	Description
static Limelight.PoseEstimateType	valueOf(String name)	Returns the enum constant of this class with the specified name.
static Limelight.PoseEstimateType[]	values()	Returns an array containing the constants of this enum class, in the order they are declared.

Methods inherited from class Enum

clone, compareTo, describeConstable, equals, finalize, getDeclaringClass, hashCode, name, ordinal, toString, valueOf

Methods inherited from class Object

getClass, notify, notifyAll, wait, wait, wait

Enum Constant Details

MT1_WPIBLUE

public static final Limelight.PoseEstimateType MT1_WPIBLUE

MegaTag1, WPILib blue-alliance-corner origin (botpose_wpiblue).

MT1_WPIRED

public static final Limelight.PoseEstimateType MT1_WPIRED

MegaTag1, WPILib red-alliance-corner origin (botpose_wpired).

MT2_WPIBLUE

public static final Limelight.PoseEstimateType MT2_WPIBLUE

MegaTag2, WPILib blue-alliance-corner origin (botpose_orb_wpiblue).

MT2_WPIRED

public static final Limelight.PoseEstimateType MT2_WPIRED

MegaTag2, WPILib red-alliance-corner origin (botpose_orb_wpired).

Method Details

values

public static Limelight.PoseEstimateType[] values()

Returns an array containing the constants of this enum class, in the order they are declared.

Returns:

an array containing the constants of this enum class, in the order they are declared

valueOf

public static Limelight.PoseEstimateType valueOf(String name)

Returns the enum constant of this class with the specified name. The string must match exactly an identifier used to declare an enum constant in this class. (Extraneous whitespace characters are not permitted.)

Parameters:

name - the name of the enum constant to be returned.

Returns:

the enum constant with the specified name

Throws:

IllegalArgumentException - if this enum class has no constant with the specified name

NullPointerException - if the argument is null