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Remove obsolete latency api reference #2439

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Remove obsolete latency api reference #2439

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78cc25f
Update latency retrieval to use timestamp method
gerth2 Apr 23, 2026
6aaa81f
moar words
gerth2 Apr 23, 2026
6236d89
ctrl-f `latency` and nuke
gerth2 Apr 24, 2026
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14 changes: 7 additions & 7 deletions docs/source/docs/programming/photonlib/driver-mode-pipeline-index.md
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Expand Up @@ -46,27 +46,27 @@ You can use the `setPipelineIndex()`/`SetPipelineIndex()` (Java and C++ respecti
# Coming Soon!
```

## Getting the Pipeline Latency
## Getting the Pipeline Image Capture Time

You can also get the pipeline latency from a pipeline result using the `getLatencyMillis()`/`GetLatency()` (Java and C++ respectively) methods on a `PhotonPipelineResult`.
You can also get the pipeline's image capture time from a pipeline result using the `getTimestampSeconds()`/`GetTimestamp()` (Java and C++ respectively) methods on a `PhotonPipelineResult`. This is useful when adding vision pose estimates to a pose estimator or Kalman Filter, to help express the idea that camera image for the estimates was taken some time in the past.

```{eval-rst}
.. tab-set-code::
.. code-block:: java

// Get the pipeline latency.
double latencySeconds = result.getLatencyMillis() / 1000.0;
// Get the pipeline image capture timestamp.
double resultTime = result.getTimestampSeconds() / 1000.0;

.. code-block:: c++

// Get the pipeline latency.
units::second_t latency = result.GetLatency();
// Get the pipeline image capture timestamp.
units::second_t resultTime = result.GetTimestamp();

.. 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](https://docs.wpilib.org/en/stable/docs/software/basic-programming/cpp-units.html).
The C++ version of PhotonLib returns the image capture time in a unit container. For more information on the Units library, see [here](https://docs.wpilib.org/en/stable/docs/software/basic-programming/cpp-units.html).
:::
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