From 7b1da48094d3201741b85f45d4f150316c5ea7ba Mon Sep 17 00:00:00 2001
From: LJWsao <112007778+LJWsao@users.noreply.github.com>
Date: Mon, 15 Jan 2024 18:54:27 +0000
Subject: [PATCH] Update robot-pose-estimator.rst

---
 .../docs/programming/photonlib/robot-pose-estimator.rst  | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/source/docs/programming/photonlib/robot-pose-estimator.rst b/source/docs/programming/photonlib/robot-pose-estimator.rst
index 2f30c3d4..02088528 100644
--- a/source/docs/programming/photonlib/robot-pose-estimator.rst
+++ b/source/docs/programming/photonlib/robot-pose-estimator.rst
@@ -104,6 +104,15 @@ Calling ``update()`` on your ``PhotonPoseEstimator`` will return an ``EstimatedR
       }
 
 You should be updating your `drivetrain pose estimator <https://docs.wpilib.org/en/latest/docs/software/advanced-controls/state-space/state-space-pose-estimators.html>`_ with the result from the ``RobotPoseEstimator`` every loop using ``addVisionMeasurement()``. TODO: add example note
+.. tab-set-code::
+   .. code-block:: java
+      var result = photonCam_1.getLatestResult();
+      if (result.hasTargets()) { //Make 
+        var update = photonPoseEstimator.update();
+        Pose3d currentPose3d = update.get().estimatedPose; 
+        botPose = currentPose3d.toPose2d();
+        photonTimestamp = update.get().timestampSeconds;
+      }
 
 Additional ``PhotonPoseEstimator`` Methods
 ------------------------------------------