Updated ftclib.

Fixed Limelight 3a support.

TeamCode/src/main/java/teamcode/FtcTest.java

@@ -36,6 +36,7 @@ import ftclib.driverio.FtcGamepad;
 import ftclib.driverio.FtcMenu;
 import ftclib.driverio.FtcValueMenu;
 import ftclib.robotcore.FtcPidCoeffCache;
+import ftclib.vision.FtcLimelightVision;
 import teamcode.vision.Vision;
 import trclib.command.CmdDriveMotorsTest;
 import trclib.command.CmdPidDrive;
@@ -241,6 +242,12 @@ public class FtcTest extends FtcTeleOp
                         robot.globalTracer.traceInfo(moduleName, "Enabling BlueBlobVision.");
                         robot.vision.setColorBlobVisionEnabled(Vision.ColorBlobType.BlueBlob, true);
                     }
+
+                    if (robot.vision.limelightVision != null)
+                    {
+                        robot.globalTracer.traceInfo(moduleName, "Enabling LimelightVision.");
+                        robot.vision.setLimelightVisionEnabled(0, true);
+                    }
                 }
                 break;
 
@@ -1070,6 +1077,11 @@ public class FtcTest extends FtcTeleOp
             {
                 robot.vision.getDetectedColorBlob(Vision.ColorBlobType.BlueBlob, lineNum++);
             }
+
+            if (robot.vision.limelightVision != null)
+            {
+                robot.vision.getLimelightDetectedObject(FtcLimelightVision.ResultType.Fiducial, null, lineNum++);
+            }
         }
     }   //doVisionTest
 

TeamCode/src/main/java/teamcode/Robot.java

@@ -219,6 +219,12 @@ public class Robot
                 vision.setColorBlobVisionEnabled(Vision.ColorBlobType.BlueBlob, false);
             }
 
+            if (vision.limelightVision != null)
+            {
+                globalTracer.traceInfo(moduleName, "Disabling LimelightVision.");
+                vision.setLimelightVisionEnabled(0, false);
+            }
+
             vision.close();
        }
 

TeamCode/src/main/java/teamcode/RobotParams.java

@@ -144,7 +144,7 @@ public class RobotParams
         public static final boolean showSubsystems              = true;
         // Vision
         public static final boolean useVision                   = false;
-        public static final boolean useWebCam                   = false;
+        public static final boolean useWebCam                   = false;    // false to use Android phone camera.
         public static final boolean useBuiltinCamBack           = false;    // For Android Phone as Robot Controller.
         public static final boolean tuneColorBlobVision         = false;
         public static final boolean useAprilTagVision           = false;
@@ -233,7 +233,7 @@ public class RobotParams
     {
         public LimelightParams()
         {
-            camName = "limelight3a";
+            camName = "Limelight3a";
             camImageWidth = 640;
             camImageHeight = 480;
             camXOffset = 0.0;                   // Inches to the right from robot center

TeamCode/src/main/java/teamcode/vision/Vision.java

@@ -611,6 +611,71 @@ public class Vision
         return colorBlobInfo;
     }   //getDetectedColorBlob
 
+    /**
+     * This method enables/disables Limelight vision for the specified pipeline.
+     *
+     * @param pipelineIndex specifies the limelight pipeline index to be selected, ignore if disabled.
+     * @param enabled specifies true to enable, false to disable.
+     */
+    public void setLimelightVisionEnabled(int pipelineIndex, boolean enabled)
+    {
+        if (limelightVision != null)
+        {
+            if (enabled)
+            {
+                limelightVision.setPipeline(pipelineIndex);
+            }
+            limelightVision.setVisionEnabled(enabled);
+        }
+    }   //setLimelightVisionEnabled
+
+    /**
+     * This method checks if Limelight vision is enabled.
+     *
+     * @return true if enabled, false if disabled.
+     */
+    public boolean isLimelightVisionEnabled()
+    {
+        return limelightVision != null && limelightVision.isVisionEnabled();
+    }   //isLimelightVisionEnabled
+
+    /**
+     * This method calls Limelight vision to detect the object.
+     *
+     * @param resultType specifies the result type to look for.
+     * @param label specifies the detected object label, can be null to match any label.
+     * @param lineNum specifies the dashboard line number to display the detected object info, -1 to disable printing.
+     * @return detected Limelight object info.
+     */
+    public TrcVisionTargetInfo<FtcLimelightVision.DetectedObject> getLimelightDetectedObject(
+        FtcLimelightVision.ResultType resultType, String label, int lineNum)
+    {
+        TrcVisionTargetInfo<FtcLimelightVision.DetectedObject> limelightInfo = null;
+        String objectName = null;
+
+        if (limelightVision != null)
+        {
+            limelightInfo = limelightVision.getBestDetectedTargetInfo(resultType, label, null);
+            if (limelightInfo != null)
+            {
+                objectName = limelightInfo.detectedObj.label;
+            }
+        }
+
+        if (objectName != null && robot.blinkin != null)
+        {
+            robot.blinkin.setDetectedPattern(objectName);
+        }
+
+        if (lineNum != -1)
+        {
+            robot.dashboard.displayPrintf(
+                lineNum, "%s: %s", objectName, limelightInfo != null? limelightInfo: "Not found.");
+        }
+
+        return limelightInfo;
+    }   //getLimelightDetectedObject
+
     /**
      * This method returns the target Z offset from ground.
      *