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Fix dimmable LED off-state, topic names, PWM flicker, brightness update outside kDefault, indefinite blinking, and blinking reliability #2337

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Merged
mcm001 merged 8 commits into from
Feb 3, 2026
+20 −15
Merged

Fix dimmable LED off-state, topic names, PWM flicker, brightness update outside kDefault, indefinite blinking, and blinking reliability #2337

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9804eac
Allow dimmable leds to be set off.
thatcomputerguy0101 Jan 27, 2026
9a4a08f
Fix C++ ledMode topic names
thatcomputerguy0101 Jan 28, 2026
9b2ea43
Reduce LL2 PWM frequency to an achievable rate
thatcomputerguy0101 Jan 28, 2026
88196b5
Allow brightness changes to update output during NT override
thatcomputerguy0101 Jan 28, 2026
0605b1a
Bump image version for LL2+ and LL3 PWM
thatcomputerguy0101 Feb 2, 2026
0cb847e
Track output state to update brightness more clearly
thatcomputerguy0101 Feb 2, 2026
5759d3f
Fix indefinite LED blinking
thatcomputerguy0101 Feb 3, 2026
84bec74
Rewrite blink for better reliability
thatcomputerguy0101 Feb 3, 2026
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2 changes: 1 addition & 1 deletion .github/workflows/build.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -10,7 +10,7 @@ concurrency:
cancel-in-progress: true

env:
IMAGE_VERSION: v2026.1.1
IMAGE_VERSION: v2026.1.2

jobs:

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2 changes: 1 addition & 1 deletion docs/source/docs/advanced-installation/sw_install/files/Limelight2+/hardwareConfig.json
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Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,6 @@
"supportURL" : "https://limelightvision.io",
"ledPins" : [ 13, 18 ],
"ledsCanDim" : true,
"ledPWMFrequency" : 30000,
"ledPWMFrequency" : 1000,
"vendorFOV" : 75.76079874010732
}
27 changes: 16 additions & 11 deletions photon-core/src/main/java/org/photonvision/common/hardware/VisionLED.java
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Original file line number Diff line number Diff line change
Expand Up @@ -43,6 +43,7 @@ public class VisionLED implements AutoCloseable {

private VisionLEDMode currentLedMode = VisionLEDMode.kDefault;
private BooleanSupplier pipelineModeSupplier;
private boolean currentOutputState = false;

private float mappedBrightness = 0.0f;

Expand Down Expand Up @@ -85,43 +86,46 @@ public void setPipelineModeSupplier(BooleanSupplier pipelineModeSupplier) {
public void setBrightness(int percentage) {
mappedBrightness =
(float) (MathUtils.map(percentage, 0.0, 100.0, brightnessMin, brightnessMax) / 100.0);
setInternal(currentLedMode, false);
if (currentOutputState) {
for (PwmLed led : dimmableVisionLEDs) {
led.setValue(mappedBrightness);
}
}
}

public void blink(int pulseLengthMillis, int blinkCount) {
TimedTaskManager.getInstance().cancelTask(blinkTaskID);
blinkImpl(pulseLengthMillis, blinkCount);
int blinkDuration = pulseLengthMillis * blinkCount * 2;
TimedTaskManager.getInstance()
.addOneShotTask(() -> setInternal(this.currentLedMode, false), blinkDuration + 150);
}

private void blinkImpl(int pulseLengthMillis, int blinkCount) {
TimedTaskManager.getInstance().cancelTask(blinkTaskID);
AtomicInteger blinks = new AtomicInteger();
TimedTaskManager.getInstance()
.addTask(
blinkTaskID,
() -> {
for (LED led : visionLEDs) {
led.toggle();
}
for (PwmLed led : dimmableVisionLEDs) {
led.setValue(mappedBrightness - led.getValue());
}
if (blinks.incrementAndGet() >= blinkCount * 2) {
setStateImpl(!currentOutputState);
if (blinkCount >= 0 && blinks.incrementAndGet() >= blinkCount * 2) {
TimedTaskManager.getInstance().cancelTask(blinkTaskID);
}
},
pulseLengthMillis);
}

private void setStateImpl(boolean state) {
TimedTaskManager.getInstance().cancelTask(blinkTaskID);
currentOutputState = state;
for (LED led : visionLEDs) {
led.setOn(state);
}
for (PwmLed led : dimmableVisionLEDs) {
led.setValue(mappedBrightness);
if (state) {
led.setValue(mappedBrightness);
} else {
led.off();
}
}
}

Expand Down Expand Up @@ -162,6 +166,7 @@ private void setInternal(VisionLEDMode newLedMode, boolean fromNT) {
var lastLedMode = currentLedMode;

if (fromNT || currentLedMode == VisionLEDMode.kDefault) {
TimedTaskManager.getInstance().cancelTask(blinkTaskID);
switch (newLedMode) {
case kDefault -> setStateImpl(pipelineModeSupplier.getAsBoolean());
case kOff -> setStateImpl(false);
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4 changes: 2 additions & 2 deletions photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp
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Expand Up @@ -142,8 +142,8 @@ PhotonCamera::PhotonCamera(nt::NetworkTableInstance instance,
rootTable->GetIntegerTopic("pipelineIndexRequest").Publish()),
pipelineIndexSub(
rootTable->GetIntegerTopic("pipelineIndexState").Subscribe(0)),
ledModePub(mainTable->GetIntegerTopic("ledMode").Publish()),
ledModeSub(mainTable->GetIntegerTopic("ledMode").Subscribe(0)),
ledModePub(mainTable->GetIntegerTopic("ledModeRequest").Publish()),
ledModeSub(mainTable->GetIntegerTopic("ledModeState").Subscribe(0)),
versionEntry(mainTable->GetStringTopic("version").Subscribe("")),
cameraIntrinsicsSubscriber(
rootTable->GetDoubleArrayTopic("cameraIntrinsics").Subscribe({})),
Expand Down
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