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TigerHelpers

TigerHelpers is a refined version of LimelightHelpers, aimed at being cleaner, better documented, and more focused on AprilTag detection. It will be kept up to date with any new Limelight features and includes additional helper methods aimed at making various things, such as unit testing, easier.

Download For Your Robot

Add the vendor dep to your project:

http://titaniumtigers4829.com/tigerhelpers.json

Migrating from LimelightHelpers to this is pretty easy, just delete LimelightHelpers.java, install the vendor dep, and change LimelightHelpers to TigerHelpers in your code. A few methods might have slightly different names, (e.g. SetRobotOrientation is now setRobotOrientation), but most are the same. Also, if you were using any properties from PoseEstimate or RawFiducial, you will need to put parenthesis after them, so change myPoseEstimate.pose to myPoseEstimate.pose().

Documentation

Eventually, there will be better docs and examples, but for now there's Javadoc

Setup Instructions (Only do this if you want to help contribute)

Prerequisites

  • Install Java 17+
  • Install Gradle (optional, as the project includes the Gradle wrapper)

Cloning and Building

  1. Clone the repository: 
    git clone https://github.com/TitaniumTigers4829/TigerHelpers.git
cd TigerHelpers
  2. Build the project: 
    ./gradlew build

Other Commands

  • Format Code: 
    ./gradlew spotlessApply
  • Generate JavaDoc: 
    ./gradlew generateDocs

Dependencies

Gradle will automatically download all required dependencies, including WPILib libraries. If you run into missing dependencies, try:

./gradlew clean build

Notes

  • The Gradle wrapper (gradlew/gradlew.bat) is included, so you don't need to install Gradle manually.