diff --git a/.idea/caches/deviceStreaming.xml b/.idea/caches/deviceStreaming.xml
new file mode 100644
index 0000000..f432cf1
--- /dev/null
+++ b/.idea/caches/deviceStreaming.xml
@@ -0,0 +1,1809 @@
+
+
+
+
+
+
\ No newline at end of file
diff --git a/.idea/codeStyles/Project.xml b/.idea/codeStyles/Project.xml
new file mode 100644
index 0000000..9c3d95a
--- /dev/null
+++ b/.idea/codeStyles/Project.xml
@@ -0,0 +1,157 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ xmlns:android
+
+ ^$
+
+
+
+
+
+
+
+
+ xmlns:.*
+
+ ^$
+
+
+ BY_NAME
+
+
+
+
+
+
+ .*:id
+
+ http://schemas.android.com/apk/res/android
+
+
+
+
+
+
+
+
+ .*:name
+
+ http://schemas.android.com/apk/res/android
+
+
+
+
+
+
+
+
+ name
+
+ ^$
+
+
+
+
+
+
+
+
+ style
+
+ ^$
+
+
+
+
+
+
+
+
+ .*
+
+ ^$
+
+
+ BY_NAME
+
+
+
+
+
+
+ .*
+
+ http://schemas.android.com/apk/res/android
+
+
+ ANDROID_ATTRIBUTE_ORDER
+
+
+
+
+
+
+ .*
+
+ .*
+
+
+ BY_NAME
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/.idea/dictionaries/project.xml b/.idea/dictionaries/project.xml
new file mode 100644
index 0000000..69ffc71
--- /dev/null
+++ b/.idea/dictionaries/project.xml
@@ -0,0 +1,7 @@
+
+
+
+ intializer
+
+
+
\ No newline at end of file
diff --git a/.idea/markdown.xml b/.idea/markdown.xml
new file mode 100644
index 0000000..c61ea33
--- /dev/null
+++ b/.idea/markdown.xml
@@ -0,0 +1,8 @@
+
+
+
+
+
+
\ No newline at end of file
diff --git a/.idea/migrations.xml b/.idea/migrations.xml
new file mode 100644
index 0000000..f8051a6
--- /dev/null
+++ b/.idea/migrations.xml
@@ -0,0 +1,10 @@
+
+
+
+
+
+
\ No newline at end of file
diff --git a/hardware/src/main/kotlin/dev/nextftc/hardware/actuators/NextFeedbackCRServo.kt b/hardware/src/main/kotlin/dev/nextftc/hardware/actuators/NextFeedbackCRServo.kt
index d60f1ff..0e60a92 100644
--- a/hardware/src/main/kotlin/dev/nextftc/hardware/actuators/NextFeedbackCRServo.kt
+++ b/hardware/src/main/kotlin/dev/nextftc/hardware/actuators/NextFeedbackCRServo.kt
@@ -71,7 +71,13 @@ class NextFeedbackCRServo(
feedbackName: String,
cacheTolerance: Double = 0.01,
) : this(
- { CRServoImplEx(LynxServoController(RobotController.appContext, module), port, ServoConfigurationType.getStandardServoType()) },
+ {
+ CRServoImplEx(
+ LynxServoController(RobotController.appContext, module),
+ port,
+ ServoConfigurationType.getStandardServoType(),
+ )
+ },
feedbackName,
cacheTolerance,
)
diff --git a/hardware/src/main/kotlin/dev/nextftc/hardware/webcams/NextHuskyLens.kt b/hardware/src/main/kotlin/dev/nextftc/hardware/webcams/NextHuskyLens.kt
new file mode 100644
index 0000000..b01263f
--- /dev/null
+++ b/hardware/src/main/kotlin/dev/nextftc/hardware/webcams/NextHuskyLens.kt
@@ -0,0 +1,56 @@
+/*
+ * Copyright (c) 2026 NextFTC Team
+ *
+ * Use of this source code is governed by an BSD-3-clause
+ * license that can be found in the LICENSE.md file at the root of this repository or at
+ * https://opensource.org/license/bsd-3-clause.
+ */
+
+package dev.nextftc.hardware.webcams
+
+import com.qualcomm.hardware.dfrobot.HuskyLens
+import dev.nextftc.hardware.LazyHardware
+import dev.nextftc.hardware.RobotController
+
+/**
+ * A NextFTC wrapper around the [HuskyLens] vision sensor that resolves the device
+ * lazily from the hardware map, so you never have to fetch it yourself.
+ *
+ * Wraps the common read and setup methods directly; anything else on the underlying
+ * sensor is reachable through [camera].
+ *
+ * @param initializer supplies the underlying [HuskyLens] when first accessed.
+ *
+ * * @author 28shettr
+ *
+ */
+
+// May be updated if, there are cooler things to add
+class NextHuskyLens(initializer: () -> HuskyLens) {
+ constructor(name: String) : this(
+ { RobotController.hardwareMap[name] as HuskyLens },
+ )
+
+ private val huskyLens by LazyHardware(initializer)
+
+ /** The underlying [HuskyLens], for anything not wrapped here. */
+ val camera: HuskyLens get() = huskyLens
+
+ /** Verifies the device is responding over I2C. */
+ fun knock(): Boolean = huskyLens.knock()
+
+ /** Selects the recognition algorithm; call once on startup. */
+ fun selectAlgorithm(algorithm: HuskyLens.Algorithm) = huskyLens.selectAlgorithm(algorithm)
+
+ /** Returns all currently seen blocks, capped at 6. */
+ fun blocks(): Array = huskyLens.blocks()
+
+ /** Returns seen blocks with the given id, capped at 6. */
+ fun blocks(id: Int): Array = huskyLens.blocks(id)
+
+ /** Returns all currently seen arrows, capped at 6. */
+ fun arrows(): Array = huskyLens.arrows()
+
+ /** Returns seen arrows with the given id, capped at 6. */
+ fun arrows(id: Int): Array = huskyLens.arrows(id)
+}
diff --git a/hardware/src/main/kotlin/dev/nextftc/hardware/webcams/NextLimelight.kt b/hardware/src/main/kotlin/dev/nextftc/hardware/webcams/NextLimelight.kt
new file mode 100644
index 0000000..804fee9
--- /dev/null
+++ b/hardware/src/main/kotlin/dev/nextftc/hardware/webcams/NextLimelight.kt
@@ -0,0 +1,117 @@
+/*
+ * Copyright (c) 2026 NextFTC Team
+ *
+ * Use of this source code is governed by an BSD-3-clause
+ * license that can be found in the LICENSE.md file at the root of this repository or at
+ * https://opensource.org/license/bsd-3-clause.
+ */
+
+package dev.nextftc.hardware.webcams
+
+import com.qualcomm.hardware.limelightvision.LLResult
+import com.qualcomm.hardware.limelightvision.LLResultTypes
+import com.qualcomm.hardware.limelightvision.Limelight3A
+import dev.nextftc.control.geometry.Pose2d
+import dev.nextftc.hardware.LazyHardware
+import dev.nextftc.hardware.RobotController
+import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit
+import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit
+import org.firstinspires.ftc.robotcore.external.navigation.Pose3D
+import kotlin.math.pow
+import kotlin.math.sqrt
+
+/**
+ * A NextFTC wrapper around the [Limelight3A] vision sensor that resolves the device
+ * lazily from the hardware map, so you never have to fetch it yourself.
+ *
+ * Wraps the common lifecycle methods directly; anything else on the underlying
+ * sensor is reachable through [camera].
+ *
+ * @param initializer supplies the underlying [Limelight3A] when first accessed.
+ *
+ * * @author 28shettr
+ *
+ */
+class NextLimelight(initializer: () -> Limelight3A) {
+ constructor(name: String) : this(
+ { RobotController.hardwareMap[name] as Limelight3A },
+ )
+
+ private val limelight by LazyHardware(initializer)
+
+ /** The underlying [Limelight3A], for anything not wrapped. */
+ val camera: Limelight3A get() = limelight
+
+ /** The most recent result from the polling loop. */
+ val latestResult: LLResult get() = limelight.latestResult
+
+ /** True while the polling loop is active. */
+ val isRunning: Boolean get() = limelight.isRunning
+
+ /** True if the sensor has reported data within the last ~250ms. */
+ val isConnected: Boolean get() = limelight.isConnected
+
+ /** The horizontal offset angle, in degrees, from the camera's crosshair to the target. */
+ val tX: Double get() = latestResult.tx
+
+ /** The vertical offset angle, in degrees, from the camera's crosshair to the target. */
+ val tY: Double get() = latestResult.ty
+
+ /** Starts the polling loop. */
+ fun start() = limelight.start()
+
+ /** Stops the polling loop. */
+ fun stop() = limelight.stop()
+
+ /** Switches to the pipeline at the given index. */
+ fun setPipeline(pipeline: Int) = limelight.pipelineSwitch(pipeline)
+
+ /** Sets the poll rate in Hz; must be called before [start]. */
+ fun setPollRate(hz: Int) = limelight.setPollRateHz(hz)
+ private var distanceMeters: Double = 0.0
+
+ /** Returns the straight-line distance (hypotenuse) from the robot to the AprilTag matching [id] (or any visible tag if [id] is null) in the given [unit]. */
+ @JvmOverloads
+ fun getDistance(unit: DistanceUnit = DistanceUnit.INCH, id: Int? = null): Double {
+ val tags: List = latestResult.fiducialResults
+ for (tag in tags) {
+ if (id == null || tag.fiducialId == id) {
+ val pose: Pose3D = tag.robotPoseTargetSpace
+ distanceMeters = sqrt(
+ pose.position.x.pow(2.0) +
+ pose.position.y.pow(2.0) +
+ pose.position.z.pow(2.0),
+ )
+ }
+ }
+ return unit.fromUnit(DistanceUnit.METER, distanceMeters)
+ }
+
+ /** Returns the robot's field position from the latest Limelight result in Pedro coordinates, or `null` if no valid pose is available. */
+ fun getPedroPoseFromLimelight(): Pose2d? {
+ val result = limelight.getLatestResult()
+ if (result == null || !result.isValid()) return null
+
+ val botpose = result.botpose ?: return null
+
+ val rawX = botpose.getPosition().x
+ val rawY = botpose.getPosition().y
+ val inchX = rawY / DistanceUnit.mPerInch
+ val inchY = -(rawX) / DistanceUnit.mPerInch
+ val heading = botpose.getOrientation().getYaw(AngleUnit.DEGREES) - 90
+
+ val pedroX = inchX + 72
+ val pedroY = inchY + 72
+ val pedroPose = Pose2d(pedroX, pedroY, Math.toRadians(heading))
+
+ return pedroPose
+ }
+
+ /** Sets the poll rate and pipeline, then starts polling in one call. */
+ @JvmOverloads
+ fun startReading(pipeline: Int, hz: Int = 100) {
+ setPollRate(hz)
+ setPipeline(pipeline)
+ start()
+ }
+}