Limelight Teleop- Driving

How this code works:

During the initializing period:
• D-pad UP: Selects RED balls only.
• D-pad DOWN: Selects BLUE balls only.
• D-pad LEFT: Selects both RED and BLUE balls.
• D-pad RIGHT: Selects all colors (RED, BLUE, and YELLOW).

During Teleop:
• Right Bumper (RB): Toggles Auto-Chase mode ON or OFF

Tip

During Auto-Chase, your robot will spin and go to balls on its own, do not use your joystick during this state.

• Left Stick (Y-axis): Drives Forward / Backward.
• Left Stick (X-axis): Strafes Left / Right (Mecanum functionality).
• Right Stick (X-axis): Turns Left / Right in place.
• Left Bumper (LB): Runs the Intake manually at full power (stops running when released).

Note

This code will ONLY work on a Limelight 3A, please look at the usages menu for your camera.

Video

Quickstart:

Add this code in your teamcode folder like so

• DirectoryTeamCode

  • Directoryjava

    • Directoryorg.firstinspires.ftc.teamcode

      • teleopLimelight.java //Add this

Adapt to your robot:

Change the following code

1. Change your limelight pipeline to your Hive Vision neural network from Installation
2. Change your limelight configuration to the one listed in your Driver Station
3. Change your drivetrain motor configuration to the ones shown in your Driver Station lines 54-57
4. Change your intake motor configuration to the one shown in your Driver Station on line 58