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Added a code example for the PhotonPoseEstimator Optional #321

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Added a code example for the PhotonPoseEstimator Optional #321

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7b1da48
Update robot-pose-estimator.rst
LJWsao Jan 15, 2024
90797a8
Merge branch 'master' into patch-1
mcm001 Feb 1, 2024
df259dd
Merge branch 'master' into patch-1
mdurrani808 Jun 1, 2024
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9 changes: 9 additions & 0 deletions source/docs/programming/photonlib/robot-pose-estimator.rst
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Expand Up @@ -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();
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Also show initialization of this camera explicitly? Also var is discouraged in our docs

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Thank you for the feedback. I will make sure to be way more thorough next time.

if (result.hasTargets()) { //Make
var update = photonPoseEstimator.update();
Pose3d currentPose3d = update.get().estimatedPose;
botPose = currentPose3d.toPose2d();
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These two variables should have explicit types

photonTimestamp = update.get().timestampSeconds;
}

Additional ``PhotonPoseEstimator`` Methods
------------------------------------------
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