implementing Limelight 3a into localizer

[Ls729-h]

Hi, @rbrott
we are currently trying to integrate the newly released limelight 3a and an extended kalman filter into the localizer.
where should i put limelight.start() and limelight.getLatestResult()? Which function in the mecanum drive class is periodic?

thx

[rbrott]

This is a good periodic function in MecanumDrive:

road-runner-quickstart/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumDrive.java

Line 443 in 5f35f4c

public PoseVelocity2d updatePoseEstimate() {

. I would assume you can put start() in the constructor, though I'm not familiar with the limelight API.