Multi-tag pnp in robot code (#787)

---------

Co-authored-by: Banks Troutman <btrout.dhrs@gmail.com>
Co-authored-by: Joseph Farkas <16584585+MrRedness@users.noreply.github.com>

photonlib-cpp-examples/apriltagExample/.wpilib/wpilib_preferences.json

@@ -0,0 +1,6 @@
+{
+    "enableCppIntellisense": true,
+    "currentLanguage": "cpp",
+    "projectYear": "2023",
+    "teamNumber": 5
+}

photonlib-cpp-examples/apriltagExample/networktables.json

@@ -0,0 +1 @@
+[]

photonlib-cpp-examples/apriltagExample/simgui-window.json

@@ -0,0 +1,81 @@
+{
+  "Docking": {
+    "Data": []
+  },
+  "MainWindow": {
+    "GLOBAL": {
+      "fps": "120",
+      "height": "880",
+      "maximized": "0",
+      "style": "0",
+      "userScale": "2",
+      "width": "1652",
+      "xpos": "268",
+      "ypos": "82"
+    }
+  },
+  "Table": {
+    "0x542B5671,2": {
+      "Column 0  Width": "391",
+      "Column 1  Width": "156",
+      "RefScale": "13"
+    }
+  },
+  "Window": {
+    "###/SmartDashboard/Field": {
+      "Collapsed": "0",
+      "Pos": "514,2",
+      "Size": "517,341"
+    },
+    "###FMS": {
+      "Collapsed": "0",
+      "Pos": "36,663",
+      "Size": "283,146"
+    },
+    "###Joysticks": {
+      "Collapsed": "0",
+      "Pos": "373,500",
+      "Size": "796,206"
+    },
+    "###Keyboard 0 Settings": {
+      "Collapsed": "0",
+      "Pos": "149,98",
+      "Size": "300,560"
+    },
+    "###NetworkTables": {
+      "Collapsed": "0",
+      "Pos": "663,464",
+      "Size": "750,365"
+    },
+    "###NetworkTables Info": {
+      "Collapsed": "0",
+      "Pos": "520,330",
+      "Size": "750,145"
+    },
+    "###Other Devices": {
+      "Collapsed": "0",
+      "Pos": "1025,20",
+      "Size": "250,695"
+    },
+    "###System Joysticks": {
+      "Collapsed": "0",
+      "Pos": "5,350",
+      "Size": "192,218"
+    },
+    "###Timing": {
+      "Collapsed": "0",
+      "Pos": "5,150",
+      "Size": "135,127"
+    },
+    "Debug##Default": {
+      "Collapsed": "0",
+      "Pos": "60,60",
+      "Size": "400,400"
+    },
+    "Robot State": {
+      "Collapsed": "0",
+      "Pos": "5,20",
+      "Size": "92,99"
+    }
+  }
+}

photonlib-cpp-examples/apriltagExample/simgui.json

@@ -0,0 +1,40 @@
+{
+  "NTProvider": {
+    "types": {
+      "/FMSInfo": "FMSInfo",
+      "/SmartDashboard/Field": "Field2d"
+    },
+    "windows": {
+      "/SmartDashboard/Field": {
+        "window": {
+          "visible": true
+        }
+      }
+    }
+  },
+  "NetworkTables": {
+    "transitory": {
+      "CameraPublisher": {
+        "open": true
+      },
+      "SmartDashboard": {
+        "open": true
+      },
+      "photonvision": {
+        "open": true,
+        "photonvision": {
+          "open": true
+        }
+      }
+    }
+  },
+  "NetworkTables Info": {
+    "Clients": {
+      "open": true
+    },
+    "Server": {
+      "open": true
+    },
+    "visible": true
+  }
+}

photonlib-cpp-examples/apriltagExample/src/main/include/PhotonCameraWrapper.h

@@ -23,6 +23,7 @@
  */
 
 #pragma once
+
 #include <photonlib/PhotonCamera.h>
 #include <photonlib/PhotonPoseEstimator.h>
 
@@ -35,8 +36,8 @@ class PhotonCameraWrapper {
  public:
   photonlib::PhotonPoseEstimator m_poseEstimator{
       frc::LoadAprilTagLayoutField(frc::AprilTagField::k2023ChargedUp),
-      photonlib::LOWEST_AMBIGUITY,
-      std::move(photonlib::PhotonCamera{"WPI2023"}), frc::Transform3d{}};
+      photonlib::MULTI_TAG_PNP, std::move(photonlib::PhotonCamera{"WPI2023"}),
+      frc::Transform3d{}};
 
   inline std::optional<photonlib::EstimatedRobotPose> Update(
       frc::Pose2d estimatedPose) {