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YAGSL handles odometry for you and extends it so you can add whatever data you want! |
Vision odometry data is normally added by using SwerveDrivePoseEstimator.addVisionMeasurement and since YAGSL handles SwerveDrivePoseEstimator for you we extend the functions inside of SwerveDrive to handle vision measurements with SwerveDrive.addVisionMeasurement instead of creating your own estimator.
There is an example usage in YAGSL-Example where we show a dummy usecase while using fake vision measurements. Effectively you would use the SwerveDrive class as the pose estimator.
/**
* Add a fake vision reading for testing purposes.
*/
public void addFakeVisionReading()
{
swerveDrive.addVisionMeasurement(new Pose2d(3, 3, Rotation2d.fromDegrees(65)), Timer.getFPGATimestamp());
}