visionSystem

val vision = visionSystem {
    config {
        enablePoseUpdates = true
        maxPoseAmbiguity = 0.2
    }

    photon("frontCamera") {
        position = Transform3d(Translation3d(0.3, 0.0, 0.2), Rotation3d())
        fieldLayout = AprilTagFields.k2024Crescendo.loadAprilTagLayoutField()
    }

    limelight("limelight") {
        ledMode = LimeModule.LEDMode.OFF
        pipeline = 0
    }

    poseEstimator { pose, timestamp, stdDevs ->
        swerveDrive.addVisionMeasurement(pose, timestamp, stdDevs)
    }

    currentPoseSupplier { swerveDrive.getPose() }
}