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docs/source/docs/examples/aimingatatarget.md

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+# Aiming at a Target
+
+The following example is from the PhotonLib example repository ([Java](https://github.com/PhotonVision/photonvision/tree/master/photonlib-java-examples/aimattarget)/[C++](https://github.com/PhotonVision/photonvision/tree/master/photonlib-cpp-examples/aimattarget)).
+
+## Knowledge and Equipment Needed
+
+- Robot with a vision system running PhotonVision
+- Target
+- Ability to track a target by properly tuning a pipeline
+
+## Code
+
+Now that you have properly set up your vision system and have tuned a pipeline, you can now aim your robot/turret at the target using the data from PhotonVision. This data is reported over NetworkTables and includes: latency, whether there is a target detected or not, pitch, yaw, area, skew, and target pose relative to the robot. This data will be used/manipulated by our vendor dependency, PhotonLib. The documentation for the Network Tables API can be found {ref}`here <docs/additional-resources/nt-api:Getting Target Information>` and the documentation for PhotonLib {ref}`here <docs/programming/photonlib/adding-vendordep:What is PhotonLib?>`.
+
+For this simple example, only yaw is needed.
+
+In this example, while the operator holds a button down, the robot will turn towards the goal using the P term of a PID loop. To learn more about how PID loops work, how WPILib implements them, and more, visit  [Advanced Controls (PID)](https://docs.wpilib.org/en/stable/docs/software/advanced-control/introduction/index.html) and [PID Control in WPILib](https://docs.wpilib.org/en/stable/docs/software/advanced-controls/controllers/pidcontroller.html#pid-control-in-wpilib).
+
+```{eval-rst}
+.. tab-set::
+
+    .. tab-item:: Java
+
+       .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/ebef19af3d926cf87292177c9a16d01b71219306/photonlib-java-examples/aimattarget/src/main/java/frc/robot/Robot.java
+         :language: java
+         :lines: 41-98
+         :linenos:
+         :lineno-start: 41
+
+    .. tab-item:: C++ (Header)
+
+       .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/ebef19af3d926cf87292177c9a16d01b71219306/photonlib-cpp-examples/aimattarget/src/main/include/Robot.h
+         :language: c++
+         :lines: 27-53
+         :linenos:
+         :lineno-start: 27
+
+    .. tab-item:: C++ (Source)
+
+       .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/ebef19af3d926cf87292177c9a16d01b71219306/photonlib-cpp-examples/aimattarget/src/main/cpp/Robot.cpp
+         :language: c++
+         :lines: 25-52
+         :linenos:
+         :lineno-start: 25
+```