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Merge auto-aim based on limelight - #6

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  • TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/Robot.java
  • TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/manual/MainDrivingOp.java
  • TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/utils/Constants.java

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Pull request overview

This PR integrates a Limelight vision pipeline into the KronBot runtime and uses Limelight tx to augment turret auto-aim, with fallback to odometry when no target is available.

Changes:

  • Add Limelight tuning constants (LIMELIGHT_TURRET_KP, LIMELIGHT_TX_DEADBAND).
  • Introduce a Robot.Limelight subsystem (init/update/telemetry/stop) and call it from the main loop.
  • Update turret auto-aim to use Limelight correction when a fresh target is present, with additional driver-facing telemetry.

Reviewed changes

Copilot reviewed 3 out of 3 changed files in this pull request and generated 2 comments.

FileDescription
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/utils/Constants.javaAdds Limelight control constants for turret correction/deadband.
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/Robot.javaAdds Limelight subsystem and merges Limelight-based correction into turret auto-aim logic.
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/manual/MainDrivingOp.javaInitializes/stops Limelight and exposes Limelight telemetry during teleop.
Suppressed comments (1)

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/Robot.java:66

  • Unused imports (LLStatus, ElapsedTime) add clutter and can trigger lint/build warnings. Remove them if not needed.
import com.qualcomm.hardware.limelightvision.LLStatus;
import com.qualcomm.hardware.limelightvision.Limelight3A;
import com.qualcomm.robotcore.util.ElapsedTime;

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Comment threadTeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/Robot.java
Comment on lines +13 to +14
import static org.firstinspires.ftc.robotcore.external.BlocksOpModeCompanion.hardwareMap;
import static org.firstinspires.ftc.robotcore.external.BlocksOpModeCompanion.telemetry;
Comment threadTeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/Robot.java
aimSource = "Limelight";
limelightTx = limelightResult.getTx();
if (Math.abs(limelightTx) > LIMELIGHT_TX_DEADBAND) {
limelightCorrection = Math.toRadians(limelightTx) * LIMELflaIGHT_TURRET_KP;
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Merge auto-aim based on limelight by vladuzzul · Pull Request #6 · kronbot/decode · GitHub
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Merge auto-aim based on limelight - #6
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vladuzzul merged 5 commits into
mainfrom 
Cosmin
Aug 3, 2026
Merged
Merge auto-aim based on limelight#6
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Cosmin
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📒 Files selected for processing (3)
  • TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/Robot.java
  • TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/manual/MainDrivingOp.java
  • TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/utils/Constants.java
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Pull request overview
This PR integrates a Limelight vision pipeline into the KronBot runtime and uses Limelight tx to augment turret auto-aim, with fallback to odometry when no target is available.
Changes:
  • Add Limelight tuning constants (LIMELIGHT_TURRET_KP, LIMELIGHT_TX_DEADBAND).
  • Introduce a Robot.Limelight subsystem (init/update/telemetry/stop) and call it from the main loop.
  • Update turret auto-aim to use Limelight correction when a fresh target is present, with additional driver-facing telemetry.
Reviewed changes
Copilot reviewed 3 out of 3 changed files in this pull request and generated 2 comments.
FileDescription
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/utils/Constants.javaAdds Limelight control constants for turret correction/deadband.
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/Robot.javaAdds Limelight subsystem and merges Limelight-based correction into turret auto-aim logic.
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/manual/MainDrivingOp.javaInitializes/stops Limelight and exposes Limelight telemetry during teleop.
Suppressed comments (1)
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/Robot.java:66
  • Unused imports (LLStatus, ElapsedTime) add clutter and can trigger lint/build warnings. Remove them if not needed.
import com.qualcomm.hardware.limelightvision.LLStatus;
import com.qualcomm.hardware.limelightvision.Limelight3A;
import com.qualcomm.robotcore.util.ElapsedTime;

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Comment threadTeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/Robot.java

Comment on lines

+13
 to 
+14

import static org.firstinspires.ftc.robotcore.external.BlocksOpModeCompanion.hardwareMap;
import static org.firstinspires.ftc.robotcore.external.BlocksOpModeCompanion.telemetry;
Comment threadTeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/Robot.java
 aimSource = "Limelight";
 limelightTx = limelightResult.getTx();
 if (Math.abs(limelightTx) > LIMELIGHT_TX_DEADBAND) {
 limelightCorrection = Math.toRadians(limelightTx) * LIMELflaIGHT_TURRET_KP;
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Merge auto-aim based on limelight by vladuzzul · Pull Request #6 · kronbot/decode · GitHub
Skip to content
Merge auto-aim based on limelight - #6
Merged
vladuzzul merged 5 commits into
mainfrom 
Cosmin
Aug 3, 2026
Merged
Merge auto-aim based on limelight#6
vladuzzul merged 5 commits into
mainfrom 
Cosmin
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📒 Files selected for processing (3)
  • TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/Robot.java
  • TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/manual/MainDrivingOp.java
  • TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/utils/Constants.java
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Pull request overview
This PR integrates a Limelight vision pipeline into the KronBot runtime and uses Limelight tx to augment turret auto-aim, with fallback to odometry when no target is available.
Changes:
  • Add Limelight tuning constants (LIMELIGHT_TURRET_KP, LIMELIGHT_TX_DEADBAND).
  • Introduce a Robot.Limelight subsystem (init/update/telemetry/stop) and call it from the main loop.
  • Update turret auto-aim to use Limelight correction when a fresh target is present, with additional driver-facing telemetry.
Reviewed changes
Copilot reviewed 3 out of 3 changed files in this pull request and generated 2 comments.
FileDescription
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/utils/Constants.javaAdds Limelight control constants for turret correction/deadband.
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/Robot.javaAdds Limelight subsystem and merges Limelight-based correction into turret auto-aim logic.
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/manual/MainDrivingOp.javaInitializes/stops Limelight and exposes Limelight telemetry during teleop.
Suppressed comments (1)
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/Robot.java:66
  • Unused imports (LLStatus, ElapsedTime) add clutter and can trigger lint/build warnings. Remove them if not needed.
import com.qualcomm.hardware.limelightvision.LLStatus;
import com.qualcomm.hardware.limelightvision.Limelight3A;
import com.qualcomm.robotcore.util.ElapsedTime;

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Comment threadTeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/Robot.java

Comment on lines

+13
 to 
+14

import static org.firstinspires.ftc.robotcore.external.BlocksOpModeCompanion.hardwareMap;
import static org.firstinspires.ftc.robotcore.external.BlocksOpModeCompanion.telemetry;
Comment threadTeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/Robot.java
 aimSource = "Limelight";
 limelightTx = limelightResult.getTx();
 if (Math.abs(limelightTx) > LIMELIGHT_TX_DEADBAND) {
 limelightCorrection = Math.toRadians(limelightTx) * LIMELflaIGHT_TURRET_KP;
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var __re = new RegExp('^' + ".*" + '
Merge auto-aim based on limelight by vladuzzul · Pull Request #6 · kronbot/decode · GitHub
Skip to content
Merge auto-aim based on limelight - #6
Merged
vladuzzul merged 5 commits into
mainfrom 
Cosmin
Aug 3, 2026
Merged
Merge auto-aim based on limelight#6
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mainfrom 
Cosmin
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Review details
⚙️ Run configuration
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Run ID: fbc5a854-6667-4896-a4db-5a1afa46d787
📥 Commits
Reviewing files that changed from the base of the PR and between e4558d1 and afa081b.
📒 Files selected for processing (3)
  • TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/Robot.java
  • TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/manual/MainDrivingOp.java
  • TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/utils/Constants.java
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Pull request overview
This PR integrates a Limelight vision pipeline into the KronBot runtime and uses Limelight tx to augment turret auto-aim, with fallback to odometry when no target is available.
Changes:
  • Add Limelight tuning constants (LIMELIGHT_TURRET_KP, LIMELIGHT_TX_DEADBAND).
  • Introduce a Robot.Limelight subsystem (init/update/telemetry/stop) and call it from the main loop.
  • Update turret auto-aim to use Limelight correction when a fresh target is present, with additional driver-facing telemetry.
Reviewed changes
Copilot reviewed 3 out of 3 changed files in this pull request and generated 2 comments.
FileDescription
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/utils/Constants.javaAdds Limelight control constants for turret correction/deadband.
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/Robot.javaAdds Limelight subsystem and merges Limelight-based correction into turret auto-aim logic.
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/manual/MainDrivingOp.javaInitializes/stops Limelight and exposes Limelight telemetry during teleop.
Suppressed comments (1)
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/Robot.java:66
  • Unused imports (LLStatus, ElapsedTime) add clutter and can trigger lint/build warnings. Remove them if not needed.
import com.qualcomm.hardware.limelightvision.LLStatus;
import com.qualcomm.hardware.limelightvision.Limelight3A;
import com.qualcomm.robotcore.util.ElapsedTime;

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Comment threadTeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/Robot.java

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import static org.firstinspires.ftc.robotcore.external.BlocksOpModeCompanion.hardwareMap;
import static org.firstinspires.ftc.robotcore.external.BlocksOpModeCompanion.telemetry;
Comment threadTeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/Robot.java
 aimSource = "Limelight";
 limelightTx = limelightResult.getTx();
 if (Math.abs(limelightTx) > LIMELIGHT_TX_DEADBAND) {
 limelightCorrection = Math.toRadians(limelightTx) * LIMELflaIGHT_TURRET_KP;
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, 'i');
if (__m === '*' || __re.test(location.href)) {
// Strip utm_, fbclid, gclid, etc. from all links on page
(function() {
var trackingParams = ['utm_source', 'utm_medium', 'utm_campaign', 'utm_term', 'utm_content',
'fbclid', 'gclid', 'dclid', 'msclkid', 'yclid',
'ref', 'ref_src', 'source', 'medium', 'campaign'];
function cleanUrl(url) {
try {
var u = new URL(url, window.location.origin);
var changed = false;
trackingParams.forEach(function(p) {
if (u.searchParams.has(p)) {
u.searchParams.delete(p);
changed = true;
}
});
return changed ? u.toString() : url;
} catch (e) {
return url;
}
}
function cleanLinks() {
document.querySelectorAll('a[href]').forEach(function(a) {
var clean = cleanUrl(a.href);
if (clean !== a.href) a.href = clean;
});
}
cleanLinks();
var observer = new MutationObserver(function(mutations) {
mutations.forEach(function(m) {
m.addedNodes.forEach(function(node) {
if (node.nodeType === 1) {
if (node.tagName === 'A') cleanLinks();
node.querySelectorAll('a[href]').forEach(function(a) {
var clean = cleanUrl(a.href);
if (clean !== a.href) a.href = clean;
});
}
});
});
});
observer.observe(document.body, { childList: true, subtree: true });
})();
}
} catch(__e) { console.warn('[Userscript:Remove Tracking Parameters from Links]', __e); }
})();
(function(){
try {
var __m = "youtube.com";
var __re = new RegExp('^' + "youtube\\.com" + '
Merge auto-aim based on limelight by vladuzzul · Pull Request #6 · kronbot/decode · GitHub
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Merge auto-aim based on limelight - #6
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📒 Files selected for processing (3)
  • TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/Robot.java
  • TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/manual/MainDrivingOp.java
  • TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/utils/Constants.java
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Pull request overview
This PR integrates a Limelight vision pipeline into the KronBot runtime and uses Limelight tx to augment turret auto-aim, with fallback to odometry when no target is available.
Changes:
  • Add Limelight tuning constants (LIMELIGHT_TURRET_KP, LIMELIGHT_TX_DEADBAND).
  • Introduce a Robot.Limelight subsystem (init/update/telemetry/stop) and call it from the main loop.
  • Update turret auto-aim to use Limelight correction when a fresh target is present, with additional driver-facing telemetry.
Reviewed changes
Copilot reviewed 3 out of 3 changed files in this pull request and generated 2 comments.
FileDescription
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/utils/Constants.javaAdds Limelight control constants for turret correction/deadband.
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/Robot.javaAdds Limelight subsystem and merges Limelight-based correction into turret auto-aim logic.
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/manual/MainDrivingOp.javaInitializes/stops Limelight and exposes Limelight telemetry during teleop.
Suppressed comments (1)
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/Robot.java:66
  • Unused imports (LLStatus, ElapsedTime) add clutter and can trigger lint/build warnings. Remove them if not needed.
import com.qualcomm.hardware.limelightvision.LLStatus;
import com.qualcomm.hardware.limelightvision.Limelight3A;
import com.qualcomm.robotcore.util.ElapsedTime;

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Comment threadTeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/Robot.java

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import static org.firstinspires.ftc.robotcore.external.BlocksOpModeCompanion.hardwareMap;
import static org.firstinspires.ftc.robotcore.external.BlocksOpModeCompanion.telemetry;
Comment threadTeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/Robot.java
 aimSource = "Limelight";
 limelightTx = limelightResult.getTx();
 if (Math.abs(limelightTx) > LIMELIGHT_TX_DEADBAND) {
 limelightCorrection = Math.toRadians(limelightTx) * LIMELflaIGHT_TURRET_KP;
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@vladuzzul@sch1afend

, 'i');
if (__m === '*' || __re.test(location.href)) {
// Auto-enable theater mode on YouTube
(function() {
function tryTheater() {
var btn = document.querySelector('button[aria-label="Theater mode"], ytd-player #player button[title="Theater mode"]');
if (btn && !btn.classList.contains('activated')) {
btn.click();
}
}
// Try immediately
tryTheater();
// Try after navigation (SPA)
var lastUrl = location.href;
setInterval(function() {
if (location.href !== lastUrl) {
lastUrl = location.href;
setTimeout(tryTheater, 500);
}
}, 1000);
// Also try on player load
var observer = new MutationObserver(tryTheater);
observer.observe(document.body, { childList: true, subtree: true });
})();
}
} catch(__e) { console.warn('[Userscript:YouTube Theater Mode Default]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '
Merge auto-aim based on limelight by vladuzzul · Pull Request #6 · kronbot/decode · GitHub
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Merge auto-aim based on limelight - #6
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Aug 3, 2026
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Merge auto-aim based on limelight#6
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📒 Files selected for processing (3)
  • TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/Robot.java
  • TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/manual/MainDrivingOp.java
  • TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/utils/Constants.java
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Pull request overview
This PR integrates a Limelight vision pipeline into the KronBot runtime and uses Limelight tx to augment turret auto-aim, with fallback to odometry when no target is available.
Changes:
  • Add Limelight tuning constants (LIMELIGHT_TURRET_KP, LIMELIGHT_TX_DEADBAND).
  • Introduce a Robot.Limelight subsystem (init/update/telemetry/stop) and call it from the main loop.
  • Update turret auto-aim to use Limelight correction when a fresh target is present, with additional driver-facing telemetry.
Reviewed changes
Copilot reviewed 3 out of 3 changed files in this pull request and generated 2 comments.
FileDescription
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/utils/Constants.javaAdds Limelight control constants for turret correction/deadband.
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/Robot.javaAdds Limelight subsystem and merges Limelight-based correction into turret auto-aim logic.
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/manual/MainDrivingOp.javaInitializes/stops Limelight and exposes Limelight telemetry during teleop.
Suppressed comments (1)
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/Robot.java:66
  • Unused imports (LLStatus, ElapsedTime) add clutter and can trigger lint/build warnings. Remove them if not needed.
import com.qualcomm.hardware.limelightvision.LLStatus;
import com.qualcomm.hardware.limelightvision.Limelight3A;
import com.qualcomm.robotcore.util.ElapsedTime;

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Comment threadTeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/Robot.java

Comment on lines

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 to 
+14

import static org.firstinspires.ftc.robotcore.external.BlocksOpModeCompanion.hardwareMap;
import static org.firstinspires.ftc.robotcore.external.BlocksOpModeCompanion.telemetry;
Comment threadTeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/Robot.java
 aimSource = "Limelight";
 limelightTx = limelightResult.getTx();
 if (Math.abs(limelightTx) > LIMELIGHT_TX_DEADBAND) {
 limelightCorrection = Math.toRadians(limelightTx) * LIMELflaIGHT_TURRET_KP;
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@vladuzzul@sch1afend

, 'i');
if (__m === '*' || __re.test(location.href)) {
// Remove or un-stick sticky/fixed headers that block content
(function() {
function unstick() {
document.querySelectorAll('header, nav, [role="banner"], .header, .navbar, .sticky, .fixed-top, [style*="position: fixed"], [style*="position:sticky"]').forEach(function(el) {
if (el.style.position === 'fixed' || el.style.position === 'sticky' || getComputedStyle(el).position === 'fixed' || getComputedStyle(el).position === 'sticky') {
el.style.position = 'static';
el.style.top = 'auto';
el.style.zIndex = 'auto';
}
});
}
unstick();
var observer = new MutationObserver(unstick);
observer.observe(document.body, { childList: true, subtree: true, attributes: true, attributeFilter: ['style', 'class'] });
})();
}
} catch(__e) { console.warn('[Userscript:Kill Sticky Headers]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '
Merge auto-aim based on limelight by vladuzzul · Pull Request #6 · kronbot/decode · GitHub
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Merge auto-aim based on limelight - #6
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vladuzzul merged 5 commits into
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Aug 3, 2026
Merged
Merge auto-aim based on limelight#6
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Run ID: fbc5a854-6667-4896-a4db-5a1afa46d787
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📒 Files selected for processing (3)
  • TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/Robot.java
  • TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/manual/MainDrivingOp.java
  • TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/utils/Constants.java
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Pull request overview
This PR integrates a Limelight vision pipeline into the KronBot runtime and uses Limelight tx to augment turret auto-aim, with fallback to odometry when no target is available.
Changes:
  • Add Limelight tuning constants (LIMELIGHT_TURRET_KP, LIMELIGHT_TX_DEADBAND).
  • Introduce a Robot.Limelight subsystem (init/update/telemetry/stop) and call it from the main loop.
  • Update turret auto-aim to use Limelight correction when a fresh target is present, with additional driver-facing telemetry.
Reviewed changes
Copilot reviewed 3 out of 3 changed files in this pull request and generated 2 comments.
FileDescription
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/utils/Constants.javaAdds Limelight control constants for turret correction/deadband.
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/Robot.javaAdds Limelight subsystem and merges Limelight-based correction into turret auto-aim logic.
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/manual/MainDrivingOp.javaInitializes/stops Limelight and exposes Limelight telemetry during teleop.
Suppressed comments (1)
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/Robot.java:66
  • Unused imports (LLStatus, ElapsedTime) add clutter and can trigger lint/build warnings. Remove them if not needed.
import com.qualcomm.hardware.limelightvision.LLStatus;
import com.qualcomm.hardware.limelightvision.Limelight3A;
import com.qualcomm.robotcore.util.ElapsedTime;

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Comment threadTeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/Robot.java

Comment on lines

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 to 
+14

import static org.firstinspires.ftc.robotcore.external.BlocksOpModeCompanion.hardwareMap;
import static org.firstinspires.ftc.robotcore.external.BlocksOpModeCompanion.telemetry;
Comment threadTeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/Robot.java
 aimSource = "Limelight";
 limelightTx = limelightResult.getTx();
 if (Math.abs(limelightTx) > LIMELIGHT_TX_DEADBAND) {
 limelightCorrection = Math.toRadians(limelightTx) * LIMELflaIGHT_TURRET_KP;
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, 'i');
if (__m === '*' || __re.test(location.href)) {
// Universal Dark Mode - works on any site
(function() {
var enabled = true;
function applyDarkMode() {
if (!enabled) return;
// Create style element if it doesn't exist
var style = document.getElementById('universal-dark-mode-style');
if (!style) {
style = document.createElement('style');
style.id = 'universal-dark-mode-style';
document.head.appendChild(style);
}
// Dark mode CSS - inverts colors but preserves images/video
style.textContent = '
/* Invert everything except media */
html {
filter: invert(1) hue-rotate(180deg) !important;
background: #1a1a2e !important;
}
/* Restore images, videos, iframes, canvas */
img, video, iframe, canvas, svg, picture, [style*="background-image"] {
filter: invert(1) hue-rotate(180deg) !important;
}
/* Preserve specific elements that should not be inverted */
.no-dark-mode, .no-dark-mode *,
[data-theme="light"], [data-theme="light"],
.ace_editor, .ace_editor *,
.CodeMirror, .CodeMirror *,
.monaco-editor, .monaco-editor *,
.markdown-body pre, .markdown-body pre *,
.highlight, .highlight *,
pre code, pre code * {
filter: none !important;
}
/* Fix common UI elements */
.modal, .popup, .dropdown-menu, .tooltip, .popover {
filter: invert(1) hue-rotate(180deg) !important;
background: #2d2d44 !important;
border-color: #444 !important;
}
/* Scrollbars */
::-webkit-scrollbar { background: #1a1a2e !important; }
::-webkit-scrollbar-thumb { background: #444 !important; }
::-webkit-scrollbar-thumb:hover { background: #555 !important; }
/* Selection */
::selection { background: #4ecdc4 !important; color: #1a1a2e !important; }
::-moz-selection { background: #4ecdc4 !important; color: #1a1a2e !important; }
';
}
function removeDarkMode() {
var style = document.getElementById('universal-dark-mode-style');
if (style) style.remove();
}
// Toggle with Alt+Shift+D
document.addEventListener('keydown', function(e) {
if (e.altKey && e.shiftKey && e.key === 'D') {
e.preventDefault();
enabled = !enabled;
if (enabled) {
applyDarkMode();
console.log('[Universal Dark Mode] Enabled');
} else {
removeDarkMode();
console.log('[Universal Dark Mode] Disabled');
}
}
});
// Apply on load
applyDarkMode();
// Re-apply on dynamic content
var observer = new MutationObserver(function(mutations) {
if (enabled && !document.getElementById('universal-dark-mode-style')) {
applyDarkMode();
}
});
observer.observe(document.head, { childList: true });
console.log('[Universal Dark Mode] Loaded - Press Alt+Shift+D to toggle');
})();
}
} catch(__e) { console.warn('[Userscript:Universal Dark Mode]', __e); }
})();
})();
Merge auto-aim based on limelight by vladuzzul · Pull Request #6 · kronbot/decode · GitHub
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Merge auto-aim based on limelight - #6
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Merged
Merge auto-aim based on limelight#6
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  • TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/Robot.java
  • TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/manual/MainDrivingOp.java
  • TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/utils/Constants.java
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@vladuzzul
vladuzzul
merged commit 49a733d
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mainAug 3, 2026

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Aug 3, 2026
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Pull request overview
This PR integrates a Limelight vision pipeline into the KronBot runtime and uses Limelight tx to augment turret auto-aim, with fallback to odometry when no target is available.
Changes:
  • Add Limelight tuning constants (LIMELIGHT_TURRET_KP, LIMELIGHT_TX_DEADBAND).
  • Introduce a Robot.Limelight subsystem (init/update/telemetry/stop) and call it from the main loop.
  • Update turret auto-aim to use Limelight correction when a fresh target is present, with additional driver-facing telemetry.
Reviewed changes
Copilot reviewed 3 out of 3 changed files in this pull request and generated 2 comments.
FileDescription
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/utils/Constants.javaAdds Limelight control constants for turret correction/deadband.
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/Robot.javaAdds Limelight subsystem and merges Limelight-based correction into turret auto-aim logic.
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/manual/MainDrivingOp.javaInitializes/stops Limelight and exposes Limelight telemetry during teleop.
Suppressed comments (1)
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/Robot.java:66
  • Unused imports (LLStatus, ElapsedTime) add clutter and can trigger lint/build warnings. Remove them if not needed.
import com.qualcomm.hardware.limelightvision.LLStatus;
import com.qualcomm.hardware.limelightvision.Limelight3A;
import com.qualcomm.robotcore.util.ElapsedTime;

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Comment threadTeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/Robot.java

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import static org.firstinspires.ftc.robotcore.external.BlocksOpModeCompanion.hardwareMap;
import static org.firstinspires.ftc.robotcore.external.BlocksOpModeCompanion.telemetry;
Comment threadTeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/Robot.java
 aimSource = "Limelight";
 limelightTx = limelightResult.getTx();
 if (Math.abs(limelightTx) > LIMELIGHT_TX_DEADBAND) {
 limelightCorrection = Math.toRadians(limelightTx) * LIMELflaIGHT_TURRET_KP;
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@vladuzzul@sch1afend