Updated documentation. Added swerve measurement function

swervelib/SwerveDrive.java

@@ -461,4 +461,17 @@ public class SwerveDrive
       module.synchronizeEncoders();
     }
   }
+
+  /**
+   * Add a vision measurement to the {@link SwerveDrivePoseEstimator} with the given timestamp of the vision
+   * measurement. <b>THIS WILL BREAK IF UPDATED TOO OFTEN.</b>
+   *
+   * @param robotPose Robot {@link Pose2d} as measured by vision.
+   * @param timestamp Timestamp the measurement was taken as time since FPGATimestamp, could be taken from
+   *                  {@link Timer#getFPGATimestamp()}.
+   */
+  public void addVisionMeasurement(Pose2d robotPose, double timestamp)
+  {
+    swerveDrivePoseEstimator.addVisionMeasurement(robotPose, timestamp);
+  }
 }