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Programming

Limelight

Using Limelight 3A for AprilTag localisation and colour targeting in FTC.

1 min readUpdated Jul 19, 2026

Limelight runs the vision pipeline on-camera and returns results over the SDK, so the Control Hub loop stays fast. It is legal in FTC and configured through a browser interface.

Reading resultsLink to this section

java
Limelight3A limelight = hardwareMap.get(Limelight3A.class, "limelight");
limelight.pipelineSwitch(0);
limelight.start();

LLResult result = limelight.getLatestResult();
if (result != null && result.isValid()) {
    Pose3D pose = result.getBotpose();
    telemetry.addData("tx", result.getTx());
    telemetry.addData("ty", result.getTy());
}

Practical notesLink to this section

  • Mount rigidly — a flexing bracket destroys pose accuracy.
  • Always null-check getLatestResult(); frames drop.
  • Fuse AprilTag pose with odometry rather than replacing it.