limelight setup config

config.py

@@ -16,4 +16,77 @@
 # 3 = ERROR
 # 4 = SETUP
 # anything else will log nothing
-# ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+# ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+class Type():
+
+    def KStatic(r, g, b):
+        return {
+            'type': 1,
+            'color': {
+                'r': r,
+                'g': g,
+                'b': b
+            }
+        }
+
+    def KRainbow():
+        return {
+            'type': 2
+        }
+
+    def KTrack(r1, g1, b1, r2, g2, b2):
+        return {
+            'type': 3,
+            'color': {
+                'r1': r1,
+                'g1': g1,
+                'b1': b1,
+                'r2': r2,
+                'g2': g2,
+                'b2': b2
+            }
+        }
+
+    def KBlink(r,g,b):
+        return {
+            'type': 4,
+            'color': {
+                'r': r,
+                'g': g,
+                'b': b
+            }
+        }
+
+    def KLadder(typeA,typeB,percent,speed):
+        return {
+            'type': 5,
+            'percent': percent, # 0-1
+            'typeA': typeA,
+            'typeB': typeB,
+            'speed': speed
+        }
+
+
+
+class Team:
+
+    red = 0
+    blue = 1
+
+
+class LimelightPipeline:
+
+    feducial = 0.0
+    neural = 1.0
+    retroreflective = 2.0
+
+limelight_led_mode: int = {
+    'pipeline_default': 0,
+    'force_off': 1,
+    'force_blink': 2,
+    'force_on': 3
+
+}
+
+active_team: Team = Team.blue

sensors/field_odometry.py

@@ -1,7 +1,7 @@
 import math
 import time
 
-from robotpy_toolkit_7407.sensors.odometry import VisionEstimator
+from toolkit.sensors.odometry import VisionEstimator
 from wpimath.geometry import Pose2d, Pose3d, Rotation2d, Translation2d
 
 # from subsystem import Drivetrain

sensors/limelight.py

@@ -3,7 +3,7 @@
 from wpimath.geometry import Pose3d, Translation3d, Rotation3d
 from wpimath.filter import MedianFilter
 
-from robotpy_toolkit_7407.sensors.limelight.limelight import VisionEstimator
+from toolkit.sensors.odometry import VisionEstimator
 
 from wpilib import Timer
 

toolkit/sensors/odometry/__init__.py

@@ -0,0 +1 @@
+from toolkit.sensors.odometry.vision_estimator import VisionEstimator

toolkit/sensors/odometry/vision_estimator.py

@@ -0,0 +1,19 @@
+from wpimath.geometry import Pose3d
+from wpilib import Timer
+
+
+class VisionEstimator:
+    """
+    An estimator (e.g. limelight, photon-vision) that returns a list of robot poses relative to the field.
+    """
+
+    def __init__(self):
+        pass
+
+    def get_estimated_robot_pose(self) -> list[Pose3d, float] | None:
+        """
+        Returns the robot's pose relative to the field, estimated by the vision system. Override this method.
+        :return: Vision system estimate of robot pose along with the associated timestamp.
+        :rtype: list[Pose3d, seconds: float] | None
+        """
+        raise NotImplementedError