Getting it into your agent
One page per mod, every tool's command on it. A separate URL per tool would split the same page into five that compete with each other.
npx skills add ncssm-robotics/ftc-claude --skill limelightgit clone --depth 1 https://github.com/ncssm-robotics/ftc-claudeWrote this? Show the measurements
A badge with what this costs and how it scanned, read live from this page, so it follows the numbers instead of freezing them. Markdown for a README, HTML for a documentation site or a project page.
[](https://agentmods.dev/skills/ncssm-robotics/ftc-claude/limelight)<a href="https://agentmods.dev/skills/ncssm-robotics/ftc-claude/limelight"><img src="https://agentmods.dev/badge/skills/ncssm-robotics/ftc-claude/limelight/github.svg" alt="Measured on agentmods" height="20"></a>Or the 80×15 button, for a site that already has a row of RSS and ATOM ones. Only the verdict fits; the numbers stay here.
<a href="https://agentmods.dev/skills/ncssm-robotics/ftc-claude/limelight"><img src="https://agentmods.dev/badge/skills/ncssm-robotics/ftc-claude/limelight.svg" alt="Reviewed on agentmods" width="80" height="20"></a>What it costs to keep this loaded
Counted locally with the o200k_base tokenizer, which is exact for GPT models; Claude uses its own tokenizer and its counts differ. Treat this as one consistent yardstick across the catalogue rather than a bill. Prices are per million input tokens.
| Model | Per session | Once invoked |
|---|---|---|
| Fable 5.1 | $0.00039 | $0.01053 |
| Opus 5 | $0.00019 | $0.00526 |
| Sonnet 5 | $0.00008 | $0.00211 |
| Haiku 4.5 | $0.00004 | $0.00105 |
Grade A, and why
limelight scanned grade A with 0 findings against 26 rules in 11 categories — prompt injection, anti-refusal, data exfiltration, privilege escalation, supply chain, agent snooping, system-prompt leakage, SSRF and excessive agency — measured 9d ago.
A static scan of the body, not an audit. Every finding is printed with the line that produced it so you can judge whether it matters here. A mod is markdown that instructs an agent; that is exactly why what it instructs is worth reading.
Nothing flagged
None of the 26 patterns this scan looks for appear in this file: no shell pipes, no recursive deletes, no credential paths, no hidden text, no instruction-override or anti-refusal phrasing, no agent-config snooping. That is not a guarantee, it is the absence of the things that are checkable.
How it starts
The opening of the file, as written. The whole thing — 156 lines — stays where its author put it; the contents beside it link to each section on GitHub.
Limelight 3A for FTC
Limelight 3A is a vision processing camera for FTC robotics with on-device processing for AprilTags, color detection, and neural networks.
Quick Start
Hardware Configuration
In Robot Configuration, Limelight appears as a USB device:
- Name:
limelight(default) - Shows IP address as "serial number"
Basic Usage
import com.qualcomm.hardware.limelightvision.Limelight3A
import com.qualcomm.hardware.limelightvision.LLResult
val limelight = hardwareMap.get(Limelight3A::class.java, "limelight")
// MUST call start() before getting results
limelight.pipelineSwitch(0)
limelight.start()
// In loop
val result = limelight.latestResult
if (result.isValid) {
val tx = result.tx // Horizontal offset in degrees
val ty = result.ty // Vertical offset in degrees
}
// When done
limelight.stop()
Key Concepts
| Term | Description |
|---|---|
| tx | Horizontal offset to target (-27° to +27°) |
| ty | Vertical offset to target (-20.5° to +20.5°) |
| ta | Target area (0-100% of image) |
| Pipeline | Vision processing mode (0-9) |
| MegaTag2 | Robot localization using AprilTags |
| Botpose | Robot's position on field from vision |
Pipelines
Configure pipelines in Limelight web interface (http://limelight.local:5801):
| Pipeline | Typical Use |
|---|---|
| 0 | AprilTag detection (default) |
| 1 | Color tracking |
| 2-9 | Custom (neural network, etc.) |
Switch pipelines: limelight.pipelineSwitch(1)
Coordinate Systems
Limelight Coordinates
- tx: Positive = target right of crosshair
- ty: Positive = target above crosshair
- Origin at camera optical center
Converting to Pedro Pathing
See COORDINATES.md for details.
// Limelight botpose to Pedro Pose
val botpose = result.botpose // Pose3D in FTC coordinates
val pedroPose = Pose(
botpose.position.x * INCHES_PER_METER,
botpose.position.y * INCHES_PER_METER,
Math.toRadians(botpose.orientation.yaw)
)
What ships with it
6 files beside SKILL.md in the same directory: the scripts, references and assets a skill reads on demand. Not counted in the per-session cost; read them before you install if any of them is executable.
What this file has done since we first saw it
Hashed on every crawl. A supply-chain change to an agent config is a question of when, not whether, so the history is kept rather than the latest state alone.
- 9d ago First seen · 156 lines · 39 tokens per session scan A fa5a99190e1b
limelight is a skill published in the GitHub repository ncssm-robotics/ftc-claude (4 stars, last pushed 7mo ago), licensed MIT. It adds 39 tokens to every session and 1,053 once invoked, about $0.0002 per session on Opus 5. A static security scan graded it A with 0 findings. No closer match exists in the catalogue, so it is treated as the original; first seen 2026-08-31.
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