Added docs from limelightvision.io; still missing a few

Author: thenetworkgrinch

vendordep/repo/yall.json

@@ -1,7 +1,7 @@
 {
     "fileName": "yall.json",
     "name": "YALL",
-    "version": "2025.9.3",
+    "version": "test",
     "frcYear": "2025",
     "uuid": "29aa8c8f-05ae-40aa-96f9-552a5c8a0347",
     "mavenUrls": [
@@ -12,7 +12,7 @@
         {
             "groupId": "yall",
             "artifactId": "yall-java",
-            "version": "2025.9.3"
+            "version": "test"
         }
     ],
     "jniDependencies": [],

yall/java/limelight/networktables/LimelightResults.java

@@ -25,61 +25,116 @@ public class LimelightResults
 
   public String error;
 
+  /**
+   * Current pipeline index
+   */
   @JsonProperty("pID")
   public double pipelineID;
 
+  /**
+   * Targeting latency (milliseconds consumed by tracking loop this frame)
+   */
   @JsonProperty("tl")
   public double latency_pipeline;
 
+  /**
+   * Capture latency (milliseconds between the end of the exposure of the middle row to the beginning of the tracking
+   * loop)
+   */
   @JsonProperty("cl")
   public double latency_capture;
 
   public double latency_jsonParse;
 
+  /**
+   * Timestamp in milliseconds from boot.
+   */
   @JsonProperty("ts")
   public double timestamp_LIMELIGHT_publish;
 
   @JsonProperty("ts_rio")
   public double timestamp_RIOFPGA_capture;
 
+  /**
+   * Validity indicator. 1 = valid targets, 0 = no valid targets
+   */
   @JsonProperty("v")
   @JsonFormat(shape = Shape.NUMBER)
   public boolean valid;
 
+  /**
+   * Botpose (MegaTag): x,y,z, roll, pitch, yaw (meters, degrees)
+   */
   @JsonProperty("botpose")
   public double[] botpose;
 
+  /**
+   * Botpose (MegaTag, WPI Red driverstation): x,y,z, roll, pitch, yaw (meters, degrees)
+   */
   @JsonProperty("botpose_wpired")
   public double[] botpose_wpired;
 
+  /**
+   * Botpose (MegaTag, WPI Blue driverstation): x,y,z, roll, pitch, yaw (meters, degrees)
+   */
   @JsonProperty("botpose_wpiblue")
   public double[] botpose_wpiblue;
 
+  /**
+   * Number of tags used to compute botpose
+   */
   @JsonProperty("botpose_tagcount")
   public double botpose_tagcount;
 
+  /**
+   * Max distance between tags used to compute botpose (meters)
+   */
   @JsonProperty("botpose_span")
   public double botpose_span;
 
+  /**
+   * Max distance between tags used to compute botpose (meters)
+   */
   @JsonProperty("botpose_avgdist")
   public double botpose_avgdist;
 
+  /**
+   * Average area of tags used to compute botpose
+   */
   @JsonProperty("botpose_avgarea")
   public double botpose_avgarea;
 
   @JsonProperty("t6c_rs")
   public double[]              camerapose_robotspace;
+  /**
+   * Color/Retroreflective pipeline results array
+   */
   @JsonProperty("Retro")
   public RetroreflectiveTape[] targets_Retro;
+  /**
+   * AprilTag pipeline results array
+   */
   @JsonProperty("Fiducial")
   public AprilTagFiducial[]    targets_Fiducials;
+  /**
+   * Classifier pipeline results array
+   */
   @JsonProperty("Classifier")
   public NeuralClassifier[]    targets_Classifier;
+  /**
+   * Neural Detector pipeline results array
+   */
   @JsonProperty("Detector")
   public NeuralDetector[]      targets_Detector;
+  /**
+   * Barcode pipeline results array
+   */
   @JsonProperty("Barcode")
   public Barcode[]             targets_Barcode;
 
+  /**
+   * Construct a LimelightResults object for JSON Parsing.
+   */
   public LimelightResults()
   {
     botpose = new double[6];
@@ -94,11 +149,22 @@ public LimelightResults()
 
   }
 
+  /**
+   * Get the current botpose as a {@link Pose3d} object.
+   *
+   * @return {@link Pose3d} object representing the botpose.
+   */
   public Pose3d getBotPose3d()
   {
     return toPose3D(botpose);
   }
 
+  /**
+   * Get the current botpose as a {@link Pose3d} object.
+   *
+   * @param alliance Alliance color to get the botpose for.
+   * @return {@link Pose3d} object representing the botpose.
+   */
   public Pose3d getBotPose3d(DriverStation.Alliance alliance)
   {
     if (alliance == DriverStation.Alliance.Red)
@@ -110,11 +176,22 @@ public Pose3d getBotPose3d(DriverStation.Alliance alliance)
     }
   }
 
+  /**
+   * Get the current botpose as a {@link Pose2d} object.
+   *
+   * @return
+   */
   public Pose2d getBotPose2d()
   {
     return toPose2D(botpose);
   }
 
+  /**
+   * Get the current botpose as a {@link Pose2d} object.
+   *
+   * @param alliance Alliance color to get the botpose for.
+   * @return {@link Pose2d} object representing the botpose.
+   */
   public Pose2d getBotPose2d(DriverStation.Alliance alliance)
   {
     if (alliance == DriverStation.Alliance.Red)

yall/java/limelight/networktables/LimelightSettings.java

@@ -208,6 +208,7 @@ public LimelightSettings withImuMode(ImuMode mode)
   public LimelightSettings withRobotOrientation(Orientation3d orientation)
   {
     robotOrientationSet.set(orientation3dToArray(orientation));
+    save();
     return this;
   }
 
@@ -347,15 +348,15 @@ public enum DownscalingOverride
   public enum ImuMode
   {
     /**
-     * Use external IMU yaw submitted via {@link withRobotOrientation} for MT2 localization. The internal IMU is ignored entirely.
+     * Use external IMU yaw submitted via {@link LimelightSettings#withRobotOrientation(Orientation3d)} for MT2 localization. The internal IMU is ignored entirely.
      */
     ExternalImu,
     /**
-     * Use external IMU yaw submitted via {@link withRobotOrientation} for MT2 localization. The internal IMU is synced with the external IMU.
+     * Use external IMU yaw submitted via {@link LimelightSettings#withRobotOrientation(Orientation3d)} for MT2 localization. The internal IMU is synced with the external IMU.
      */
     SyncInternalImu,
     /**
-     * Use internal IMU for MT2 localization. Ignores external IMU updates from {@link withRobotOrientation}.
+     * Use internal IMU for MT2 localization. Ignores external IMU updates from {@link LimelightSettings#withRobotOrientation(Orientation3d)}.
      */
     InternalImu
   }

yall/java/limelight/networktables/target/AprilTagFiducial.java

@@ -13,38 +13,86 @@
 public class AprilTagFiducial
 {
 
+  /**
+   * Fiducial tag ID
+   */
   @JsonProperty("fID")
   public double fiducialID;
 
+  /**
+   * Fiducial Family (16H5C, 25H9C, 36H11C, etc)
+   */
   @JsonProperty("fam")
   public  String   fiducialFamily;
+  /**
+   * The size of the target as a percentage of the image (0-1)
+   */
   @JsonProperty("ta")
   public  double   ta;
+  /**
+   * X-coordinate of the center of the target in degrees relative to crosshair. Positive-right, center-zero
+   */
   @JsonProperty("tx")
   public  double   tx;
+  /**
+   * 	Y-coordinate of the center of the target in degrees relative to crosshair. Positive-down, center-zero
+   */
   @JsonProperty("ty")
   public  double   ty;
+  /**
+   * X-coordinate of the center of the target in pixels relative to crosshair. Positive-right, center-zero
+   */
   @JsonProperty("txp")
   public  double   tx_pixels;
+  /**
+   * Y-coordinate of the center of the target in pixels relative to crosshair. Positive-down, center-zero
+   */
   @JsonProperty("typ")
   public  double   ty_pixels;
+  /**
+   * X-coordinate of the center of the target in degrees relative to principal piexel. Positive-right, center-zero
+   */
   @JsonProperty("tx_nocross")
   public  double   tx_nocrosshair;
+  /**
+   * Y-coordinate of the center of the target in degrees relative to principal pixel. Positive-right, center-zero
+   */
   @JsonProperty("ty_nocross")
   public  double   ty_nocrosshair;
+  /**
+   * Timestamp in milliseconds from boot.
+   */
   @JsonProperty("ts")
   public  double   ts;
+  /**
+   * Camera Pose in target space as computed by solvepnp (x,y,z,rx,ry,rz)
+   */
   @JsonProperty("t6c_ts")
   private double[] cameraPose_TargetSpace;
+  /**
+   * Robot Pose in field space as computed by solvepnp (x,y,z,rx,ry,rz)
+   */
   @JsonProperty("t6r_fs")
   private double[] robotPose_FieldSpace;
+  /**
+   * Robot Pose in target space as computed by solvepnp (x,y,z,rx,ry,rz)
+   */
   @JsonProperty("t6r_ts")
   private double[] robotPose_TargetSpace;
+  /**
+   * Target Pose in camera space as computed by solvepnp (x,y,z,rx,ry,rz)
+   */
   @JsonProperty("t6t_cs")
   private double[] targetPose_CameraSpace;
+  /**
+   * Target Pose in robot space as computed by solvepnp (x,y,z,rx,ry,rz)
+   */
   @JsonProperty("t6t_rs")
   private double[] targetPose_RobotSpace;
 
+  /**
+   * Create the AprilTagFiducial object
+   */
   public AprilTagFiducial()
   {
     cameraPose_TargetSpace = new double[6];
@@ -54,51 +102,101 @@ public AprilTagFiducial()
     targetPose_RobotSpace = new double[6];
   }
 
+  /**
+   * Get the AprilTag's 3D pose in target space
+   *
+   * @return {@link Pose3d} object representing the AprilTag's position and orientation relative to the camera
+   */
   public Pose3d getCameraPose_TargetSpace()
   {
     return toPose3D(cameraPose_TargetSpace);
   }
 
+  /**
+   * Get the AprilTag's 3D pose in field space
+   *
+   * @return {@link Pose3d} object representing the AprilTag's position and orientation relative to the robot
+   */
   public Pose3d getRobotPose_FieldSpace()
   {
     return toPose3D(robotPose_FieldSpace);
   }
 
+  /**
+   * Get the AprilTag's 3D pose in target space
+   *
+   * @return {@link Pose3d} object representing the AprilTag's position and orientation relative to the robot
+   */
   public Pose3d getRobotPose_TargetSpace()
   {
     return toPose3D(robotPose_TargetSpace);
   }
 
+  /**
+   * Get the AprilTag's 3D pose in camera space
+   *
+   * @return {@link Pose3d} object representing the AprilTag's position and orientation relative to the camera
+   */
   public Pose3d getTargetPose_CameraSpace()
   {
     return toPose3D(targetPose_CameraSpace);
   }
 
+  /**
+   * Get the AprilTag's 3D pose in robot space
+   *
+   * @return {@link Pose3d} object representing the AprilTag's position and orientation relative to the robot
+   */
   public Pose3d getTargetPose_RobotSpace()
   {
     return toPose3D(targetPose_RobotSpace);
   }
 
+  /**
+   * Get the AprilTag's 2D pose in target space
+   *
+   * @return {@link Pose2d} object representing the AprilTag's position and orientation relative to the camera
+   */
   public Pose2d getCameraPose_TargetSpace2D()
   {
     return toPose2D(cameraPose_TargetSpace);
   }
 
+  /**
+   * Get the AprilTag's 2D pose in field space
+   *
+   * @return {@link Pose2d} object representing the AprilTag's position and orientation relative to the robot
+   */
   public Pose2d getRobotPose_FieldSpace2D()
   {
     return toPose2D(robotPose_FieldSpace);
   }
 
+  /**
+   * Get the AprilTag's 2D pose in target space
+   *
+   * @return {@link Pose2d} object representing the AprilTag's position and orientation relative to the robot
+   */
   public Pose2d getRobotPose_TargetSpace2D()
   {
     return toPose2D(robotPose_TargetSpace);
   }
 
+  /**
+   * Get the AprilTag's 2D pose in camera space
+   *
+   * @return {@link Pose2d} object representing the AprilTag's position and orientation relative to the camera
+   */
   public Pose2d getTargetPose_CameraSpace2D()
   {
     return toPose2D(targetPose_CameraSpace);
   }
 
+  /**
+   * Get the AprilTag's 2D pose in robot space
+   *
+   * @return {@link Pose2d} object representing the AprilTag's position and orientation relative to the robot
+   */
   public Pose2d getTargetPose_RobotSpace2D()
   {
     return toPose2D(targetPose_RobotSpace);