Limelight is a vision camera designed for FRC and FTC. We used it to detect AprilTags so the robot could aim accurately. It includes a built-in camera, a GPU-accelerated vision processor, and a web-based configuration interface.

We used Limelight in two ways: first, we tested color detection successfully but did not use it in competition; second, we used AprilTag detection. The Limelight web interface allowed us to view the live camera feed and switch between different vision pipelines for color or AprilTag tracking.