Removed an unnecessary method from IAprilTagProvider, and modified some stuff that used it so that things make more sense

.OutlineViewer/outlineviewer.json

@@ -0,0 +1,17 @@
+{
+  "Connections": {
+    "open": true
+  },
+  "NetworkTables Settings": {
+    "mode": "Server"
+  },
+  "Server": {
+    "Publishers": {
+      "open": true
+    },
+    "Subscribers": {
+      "open": true
+    },
+    "open": true
+  }
+}

src/main/java/frc/robot/interfaces/IAprilTagProvider.java

@@ -7,20 +7,6 @@ import java.util.OptionalDouble;
  * information from various sources in a consistent way.
  */
 public interface IAprilTagProvider {
-    /**
-     * A method to get the AprilTag offset from the center of the image. This is intended to be used with 
-     * a PIDController, the PIDController keeps the robot rotated such that the AprilTag stays in the horizontal
-     * center of the image. 
-     * 
-     * TODO Is there some other way of ensuring an AprilTag is in the center of the image frame without knowing the horizontal resolution?
-     * TODO Certain providers don't give resolution information natively. Which makes me think there's some other way to do this.
-     * 
-     * @param id The ID of the AprilTag to give an offset from
-     * @param cameraHalfXRes Half of the horizontal resolution of the camera sensor
-     * @return A double with the number of pixels offset from center the tag is, or OptionalDouble.empty() if the tag is not present in the camera's view
-     */
-    public OptionalDouble getTagOffsetFromCameraCenterByID(int id, double cameraHalfXRes);
-
     /**
      * A method to get the distance from <i>the camera</i> to the AprilTag specified
      * 
@@ -31,18 +17,18 @@ public interface IAprilTagProvider {
     public OptionalDouble getTagDistanceFromCameraByID(int id, double targetHeightMeters);
 
     /**
-     * A method to get the pitch of a particular AprilTag
+     * A method to get the pitch from the center of the image of a particular AprilTag
      * 
      * @param id The ID of the AprilTag to get the pitch of
-     * @return The pitch, in radians, of the target, or OptionalDouble.empty() if the tag is not present in the camera's view
+     * @return The pitch, in degrees, of the target, or OptionalDouble.empty() if the tag is not present in the camera's view
      */
     public OptionalDouble getTagPitchByID(int id);
 
     /**
-     * A method to get the yaw of a particular AprilTag
+     * A method to get the yaw from the center of the image of a particular AprilTag
      * 
      * @param id The ID of the AprilTag to get the yaw of
-     * @return The yaw, in radians, of the target, or OptionalDouble.empty() if the tag is not present in the camera's view
+     * @return The yaw, in degrees, of the target, or OptionalDouble.empty() if the tag is not present in the camera's view
      */
     public OptionalDouble getTagYawByID(int id);
 }

src/main/java/frc/robot/subsystems/Drivetrain.java

@@ -330,13 +330,13 @@ public class Drivetrain extends SubsystemBase {
         return new PIDCommand(
             controller, 
             () -> {
-                OptionalDouble tagOffset = m_aprilTagProvider.getTagOffsetFromCameraCenterByID(tagID, cameraHorizontalResolution);
+                OptionalDouble tagYaw = m_aprilTagProvider.getTagYawByID(tagID);
 
-                if (tagOffset.isEmpty()) {
+                if (tagYaw.isEmpty()) {
                     return 0;
                 }
 
-                return tagOffset.getAsDouble();
+                return tagYaw.getAsDouble();
             }, 
             () -> { return 0; }, 
             (output) -> {

src/main/java/frc/robot/utilities/PhotonVision.java

@@ -78,27 +78,6 @@ public class PhotonVision implements ICamera,IAprilTagProvider,IVisualPoseProvid
         );
     }
 
-    @Override
-    public OptionalDouble getTagOffsetFromCameraCenterByID(int id, double cameraHalfXRes) {
-        PhotonPipelineResult result = camera.getLatestResult();
-        
-        if (!result.hasTargets()) {
-            return OptionalDouble.empty();
-        }
-
-        Optional<PhotonTrackedTarget> desiredTarget = getTargetFromList(result.getTargets(), id);
-
-        if (desiredTarget.isEmpty()) {
-            return OptionalDouble.empty();
-        }
-
-        List<TargetCorner> corners = desiredTarget.get().getDetectedCorners();
-
-        return OptionalDouble.of(
-            corners.get(2).x - corners.get(3).x - cameraHalfXRes
-        );
-    }
-
     @Override
     public OptionalDouble getTagDistanceFromCameraByID(int id, double targetHeightMeters) {
         PhotonPipelineResult result = camera.getLatestResult();