From 4057205583197e21f321583a40c9e2c5e138b992 Mon Sep 17 00:00:00 2001
From: Julius <74841960+JuliusZhou124@users.noreply.github.com>
Date: Tue, 4 Mar 2025 05:41:04 -0800
Subject: [PATCH] Cleanup Docs for PhotonPoseEstimator (#1795)

---
 .../docs/programming/photonlib/robot-pose-estimator.md      | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/docs/source/docs/programming/photonlib/robot-pose-estimator.md b/docs/source/docs/programming/photonlib/robot-pose-estimator.md
index f0e3e6cca..ac5342c64 100644
--- a/docs/source/docs/programming/photonlib/robot-pose-estimator.md
+++ b/docs/source/docs/programming/photonlib/robot-pose-estimator.md
@@ -32,7 +32,7 @@ The API documentation can be found in here: [Java](https://github.wpilib.org/all
 
 ## Creating a `PhotonPoseEstimator`
 
-The PhotonPoseEstimator has a constructor that takes an `AprilTagFieldLayout` (see above), `PoseStrategy`, `PhotonCamera`, and `Transform3d`. `PoseStrategy` has six possible values:
+The PhotonPoseEstimator has a constructor that takes an `AprilTagFieldLayout` (see above), `PoseStrategy`, `PhotonCamera`, and `Transform3d`. `PoseStrategy` has nine possible values:
 
 - MULTI_TAG_PNP_ON_COPROCESSOR
     - Calculates a new robot position estimate by combining all visible tag corners. Recommended for all teams as it will be the most accurate.
@@ -155,3 +155,7 @@ Updates the stored reference pose when using the CLOSEST_TO_REFERENCE_POSE strat
 ### `setLastPose(Pose3d lastPose)`
 
 Update the stored last pose. Useful for setting the initial estimate when using the CLOSEST_TO_LAST_POSE strategy.
+
+### `addHeadingData(double timestampSeconds, Rotation2d heading)`
+
+Adds robot heading data to be stored in buffer. Must be called periodically with a proper timestamp for the PNP_DISTANCE_TRIG_SOLVE and CONSTRAINED_SOLVEPNP strategies