Docs corrections related to PhotonPoseEstimator (#804)

photonlib-java-examples/apriltagExample/src/main/java/frc/robot/Drivetrain.java

@@ -181,9 +181,6 @@ public class Drivetrain {
         m_poseEstimator.update(
                 m_gyro.getRotation2d(), m_leftEncoder.getDistance(), m_rightEncoder.getDistance());
 
-        // Also apply vision measurements. We use 0.3 seconds in the past as an example
-        // -- on
-        // a real robot, this must be calculated based either on latency or timestamps.
         Optional<EstimatedRobotPose> result =
                 pcw.getEstimatedGlobalPose(m_poseEstimator.getEstimatedPosition());
 

photonlib-java-examples/apriltagExample/src/main/java/frc/robot/PhotonCameraWrapper.java

@@ -79,8 +79,8 @@ public class PhotonCameraWrapper {
 
     /**
      * @param estimatedRobotPose The current best guess at robot pose
-     * @return A pair of the fused camera observations to a single Pose2d on the field, and the time
-     *     of the observation. Assumes a planar field and the robot is always firmly on the ground
+     * @return an EstimatedRobotPose with an estimated pose, the timestamp, and targets used to create
+     *     the estimate
      */
     public Optional<EstimatedRobotPose> getEstimatedGlobalPose(Pose2d prevEstimatedRobotPose) {
         photonPoseEstimator.setReferencePose(prevEstimatedRobotPose);