Using AprtilTags, we can use vision to help orient us on the field and help correct odmetry over time (see #69) as error builds up. Configure the limelight to be able to provide pose estimations and pass these to pose estimator that already exists.
For example:
This will add a vision measurement to the existing pose estimator that is built into the CTR swerve code
this.m_odometry.addVisionMeasurement(pose, poseTimestamp);
Description
Using AprtilTags, we can use vision to help orient us on the field and help correct odmetry over time (see #69) as error builds up. Configure the limelight to be able to provide pose estimations and pass these to pose estimator that already exists.
For example: This will add a vision measurement to the existing pose estimator that is built into the CTR swerve code
this.m_odometry.addVisionMeasurement(pose, poseTimestamp);