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# Limelight

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READ THE ENTIRE WEBSITE
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**Vision wins matches. Without reliable vision, you will not compete effectively.** In modern FRC gameplay, precise autonomous routines, consistent scoring, and accurate localization all depend heavily on your Limelight system functioning perfectly. It is a core part of your robot’s ability to understand the field.

#### **Pre-Match Limelight Checklist (Must Do Every Match)**

Before every match, perform a complete Limelight check to avoid catastrophic failures on the field:

1. **Ensure Full Robot Connection**\
   Connect to the robot Wi-Fi and confirm the Limelight is detected in the network.
2. **Check AdvantageScope Pose Estimation**\
   Open AdvantageScope and verify that your robot pose is being updated via the vision system (look for pose jumps when targets are visible).
3. **Access the Limelight Web UI**\
   Navigate to the Limelight's web interface and visually inspect:
   * **Live Camera Feed**: Make sure the camera is pointed correctly and is not obstructed or blurry.
   * **Target Lock**: Verify the Limelight is correctly identifying.
   * **Pipeline Selection**: Confirm the correct pipeline is selected
4. **Confirm Identification Accuracy**\
   The target box should be consistently locked on and stable. If it's flickering, jumping, or failing to detect, investigate lighting, focus, or exposure settings.

***

**Failure to run this check can result in lost localization, missed shots, or an entire autonomous routine failing. Do not skip it.**


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