Driver Mode and Pipeline Index/Latency

After creating a PhotonCamera, one can toggle Driver Mode and change the Pipeline Index of the vision program from robot code.

Toggle Driver Mode

You can use the setDriverMode()/SetDriverMode() (Java and C++ respectively) to toggle driver mode from your robot program. Driver mode is an unfiltered / normal view of the camera to be used while driving the robot.

JAVA

// Set driver mode to on.
camera.setDriverMode(true);

C++

// Set driver mode to on.
camera.SetDriverMode(true);

Setting the Pipeline Index

You can use the setPipelineIndex()/SetPipelineIndex() (Java and C++ respectively) to dynamically change the vision pipeline from your robot program.

JAVA

// Change pipeline to 2
camera.setPipelineIndex(2);

C++

// Change pipeline to 2
camera.SetPipelineIndex(2);

Getting the Pipeline Latency

You can also get the pipeline latency from a pipeline result using the getLatencyMillis()/GetLatency() (Java and C++ respectively) methods on a PhotonPipelineResult.

JAVA

// Get the pipeline latency.
double latencySeconds = result.getLatencyMillis() / 1000.0;

C++

// Get the pipeline latency.
units::second_t latency = result.GetLatency();

Note

The C++ version of PhotonLib returns the latency in a unit container. For more information on the Units library, see here.