PhotonVision/docs/source/docs/programming/photonlib/driver-mode-pipeline-index.md

Driver Mode and Pipeline Index/Latency

After {ref}creating a PhotonCamera <docs/programming/photonlib/getting-target-data:Constructing a PhotonCamera>, one can toggle Driver Mode and change the Pipeline Index of the vision program from robot code.

Toggle Driver Mode

You can use the setDriverMode()/SetDriverMode() (Java and C++ respectively) to toggle driver mode from your robot program. Driver mode is an unfiltered / normal view of the camera to be used while driving the robot.

.. tab-set-code::

    .. code-block:: Java

        // Set driver mode to on.
        camera.setDriverMode(true);

    .. code-block:: C++

        // Set driver mode to on.
        camera.SetDriverMode(true);

    .. code-block:: Python

        # Coming Soon!

Setting the Pipeline Index

You can use the setPipelineIndex()/SetPipelineIndex() (Java and C++ respectively) to dynamically change the vision pipeline from your robot program.

.. tab-set-code::

    .. code-block:: Java

        // Change pipeline to 2
        camera.setPipelineIndex(2);

    .. code-block:: C++

        // Change pipeline to 2
        camera.SetPipelineIndex(2);

    .. code-block:: Python

        # Coming Soon!

Getting the Pipeline Latency

You can also get the pipeline latency from a pipeline result using the getLatencyMillis()/GetLatency() (Java and C++ respectively) methods on a PhotonPipelineResult.

.. tab-set-code::
   .. code-block:: Java

      // Get the pipeline latency.
      double latencySeconds = result.getLatencyMillis() / 1000.0;

   .. code-block:: C++

      // Get the pipeline latency.
      units::second_t latency = result.GetLatency();

   .. code-block:: Python

        # Coming Soon!

:::{note} The C++ version of PhotonLib returns the latency in a unit container. For more information on the Units library, see here. :::