Dual Limelight odometry with FOM #139
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for easier functionality with logging
…s into the limelight class
…tag distance to weight the LL poses when combining
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Also in this pull request is all our work with AdvantageKit, primarily that we can display robot ghosts on the field that are where each limelight thinks the robot is, as well as where our robot thinks it is. |
TellowKrinkle
approved these changes
Nov 19, 2024
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Introduced an FOM (Figure Of Merit) that our robot calculates for each limelight, and uses to merge the two limelight positions proportional to how reliable we believe they are.