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that should be almost everything
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‎.idea/workspace.xml‎

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‎src/content/docs/hardware/miscellaneous/husky-lens.mdx‎

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---
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title: HuskyLens
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description: Reading blocks and arrows with NextHuskyLens
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sidebar:
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order: 2
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---
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import { Tabs, TabItem } from '@astrojs/starlight/components';
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`NextHuskyLens` is a wrapper around the [HuskyLens](https://www.gobilda.com/huskylens-ai-camera-vision-sensor-with-gobilda-case/) that initializes the device lazily from the hardware map. It wraps common read and setup methods.
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Anything else not wrapped is accessible through `camera`.
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## Creating a NextHuskyLens
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<Tabs syncKey="language">
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<TabItem label="Kotlin">
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```kotlin
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val huskyLens = NextHuskyLens("huskyLens") // Using your configuration name
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```
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</TabItem>
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<TabItem label="Java">
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```java
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NextHuskyLens huskyLens = new NextHuskyLens("huskyLens"); // Using your configuration name
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```
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</TabItem>
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</Tabs>
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## Usage
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### `selectAlgorithm(algorithm)`
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Selects the recognition algorithm.
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<Tabs syncKey="language">
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<TabItem label="Kotlin">
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```kotlin
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huskyLens.selectAlgorithm(HuskyLens.Algorithm.OBJECT_TRACKING)
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```
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</TabItem>
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<TabItem label="Java">
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```java
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huskyLens.selectAlgorithm(HuskyLens.Algorithm.OBJECT_TRACKING);
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```
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</TabItem>
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</Tabs>
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### `blocks(id)`
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Returns all currently seen blocks, or only blocks with the given id, this is capped at 6.
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<Tabs syncKey="language">
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<TabItem label="Kotlin">
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```kotlin
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val allBlocks = huskyLens.blocks()
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val blocksWithId = huskyLens.blocks(1)
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```
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</TabItem>
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<TabItem label="Java">
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```java
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HuskyLens.Block[] allBlocks = huskyLens.blocks();
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HuskyLens.Block[] blocksWithId = huskyLens.blocks(1);
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```
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</TabItem>
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</Tabs>
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### `arrows(id)`
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Returns all currently seen arrows, or only arrows with the given id, this is capped at 6.
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<Tabs syncKey="language">
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<TabItem label="Kotlin">
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```kotlin
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val allArrows = huskyLens.arrows()
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val arrowsWithId = huskyLens.arrows(1)
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```
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</TabItem>
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<TabItem label="Java">
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```java
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HuskyLens.Arrow[] allArrows = huskyLens.arrows();
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HuskyLens.Arrow[] arrowsWithId = huskyLens.arrows(1);
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```
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</TabItem>
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</Tabs>
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### `knock()`
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Verifies the device is responding over I2C. Returns `true` if it is.
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<Tabs syncKey="language">
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<TabItem label="Kotlin">
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```kotlin
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if (huskyLens.knock()) { ... }
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```
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</TabItem>
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<TabItem label="Java">
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```java
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if (huskyLens.knock()) { ... }
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```
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</TabItem>
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</Tabs>

‎src/content/docs/hardware/miscellaneous/limelights.mdx‎

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---
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title: Limelights
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description: Reading AprilTags and pose data with NextLimelight
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sidebar:
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order: 1
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---
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import { Tabs, TabItem } from '@astrojs/starlight/components';
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`NextLimelight` is a wrapper around the [Limelight3A](https://limelightvision.io/products/limelight-3a) that initializes the device lazily from the hardware map. While creating many useful methods. Any data that is not wrapped can be accessed through `camera`.
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## Creating a NextLimelight
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<Tabs syncKey="language">
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<TabItem label="Kotlin">
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```kotlin
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val limelight = NextLimelight("limelight") // Using your configuration name
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```
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</TabItem>
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<TabItem label="Java">
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```java
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NextLimelight limelight = new NextLimelight("limelight"); // Using your configuration name
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```
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</TabItem>
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</Tabs>
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## Usage
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### `startReading(pipeline, hz)`
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Sets the poll rate and pipeline, then starts polling, all in one call.
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<Tabs syncKey="language">
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<TabItem label="Kotlin">
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```kotlin
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limelight.startReading(pipeline = 0, hz = 100)
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```
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</TabItem>
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<TabItem label="Java">
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```java
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limelight.startReading(0, 100);
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```
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</TabItem>
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</Tabs>
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### `getDistance(unit, id)`
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Returns the straight-line distance (hypotenuse) from the robot to the AprilTag for the matching `id` (or any visible tag if `id` is `null`), in the given unit or `null` if no valid tag is available.
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<Tabs syncKey="language">
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<TabItem label="Kotlin">
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```kotlin
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val distance = limelight.getDistance(id = 7) //Defaults to Inches
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if (distance != null) {
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// ...
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}
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```
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</TabItem>
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<TabItem label="Java">
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```java
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Distance distance = limelight.getDistance(Inches.INSTANCE, 7); //Defaults to Inches
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if (distance != null) {
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// ...
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}
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```
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</TabItem>
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</Tabs>
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### `getPose()`
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Returns the robot's field position in [FTC coordinates](https://ftc-docs.firstinspires.org/en/latest/game_specific_resources/field_coordinate_system/field-coordinate-system.html), or `null` if no valid pose is available.
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<Tabs syncKey="language">
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<TabItem label="Kotlin">
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```kotlin
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val pose = limelight.getPose()
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if (pose != null) {
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// ...
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}
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```
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</TabItem>
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<TabItem label="Java">
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```java
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Pose2d pose = limelight.getPose();
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if (pose != null) {
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// ...
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}
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```
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</TabItem>
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</Tabs>
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### `getPedroPose()`
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Returns the robot's field position in [Pedro coordinates](https://pedropathing.com/docs/pathing/reference/coordinates), or `null` if no valid pose is available.
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<Tabs syncKey="language">
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<TabItem label="Kotlin">
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```kotlin
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val pose = limelight.getPedroPose()
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if (pose != null) {
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// ...
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}
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```
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</TabItem>
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<TabItem label="Java">
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```java
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Pose2d pose = limelight.getPedroPose();
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if (pose != null) {
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// ...
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}
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```
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</TabItem>
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</Tabs>

‎src/content/docs/hardware/miscellaneous/rgb-indicator.mdx‎

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title: RGB Indicators
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description: Controlling the goBILDA PWM RGB Indicator Light with NextRGBIndicator
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sidebar:
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order: 1
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order: 3
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---
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import { Tabs, TabItem } from '@astrojs/starlight/components';

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