Adds preliminary pathplanner example for vision#2
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scottrehlander wants to merge 1 commit into
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This pull request is a (somewhat) working example of using the pathplanner "driveToPose" function from the YAGSL. Since the command that it returns relies on the targetPose being set in SupplyAprilTagPose, we must use a "DeferredCommand". If we don't, the targetPose is set in the pathplanner command before it is set by the callback in SupplyAprilTagPose. The rotation does appear to work with driveToPose - but we should probably test how close it can be to the target pose translation before it prevents rotation. Hopefully it's close enough that we could just skip the drive and just execute a Spin command.
Notes:
This pull request is informational only, I am not planning to merge it