Cleaned up more ICamera related junk, which is no longer needed now that the definitions of the get yaw and pitch methods in IAprilTagProvider have changed

src/main/java/frc/robot/RobotContainer.java

@@ -96,8 +96,7 @@ public class RobotContainer {
         primary::getLeftX, 
         primary::getLeftY, 
         OIConstants.kTeleopDriveDeadband, 
-        ampTagID, 
-        960 // TODO This is a guess, the vision system should be an ICamera and this should be vision.getWidth()
+        ampTagID
       ).until(
         () -> MathUtil.applyDeadband(primary.getRightX(), OIConstants.kTeleopDriveDeadband) != 0
       )
@@ -109,8 +108,7 @@ public class RobotContainer {
         primary::getLeftX, 
         primary::getLeftY, 
         OIConstants.kTeleopDriveDeadband, 
-        sourceTagID, 
-        960 // TODO This is a guess, the vision system should be an ICamera and this should be vision.getWidth()
+        sourceTagID
       ).until(
         () -> MathUtil.applyDeadband(primary.getRightX(), OIConstants.kTeleopDriveDeadband) != 0
       )
@@ -122,8 +120,7 @@ public class RobotContainer {
         primary::getLeftX, 
         primary::getLeftY, 
         OIConstants.kTeleopDriveDeadband, 
-        speakerTag, 
-        960 // TODO This is a guess, the vision system should be an ICamera and this should be vision.getWidth()
+        speakerTag
       ).until(
         () -> MathUtil.applyDeadband(primary.getRightX(), OIConstants.kTeleopDriveDeadband) != 0
       )

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

@@ -1,21 +0,0 @@
-package frc.robot.interfaces;
-
-/**
- * An interface which ensures a class can provide common camera
- * properties in a consistent way
- */
-public interface ICamera {
-    /**
-     * Retrieves the width of the camera's resolution
-     * 
-     * @return The width of the resolution, in pixels
-     */
-    public double getWidth();
-
-    /**
-     * Retrieves the height of the camera's resolution
-     * 
-     * @return The height of the resolution, in pixels
-     */
-    public double getHeight();
-}

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

@@ -315,7 +315,7 @@ public class Drivetrain extends SubsystemBase {
             this);
     }
 
-    public Command driveAprilTagLock(DoubleSupplier xSpeed, DoubleSupplier ySpeed, double deadband, int tagID, double cameraHorizontalResolution) {
+    public Command driveAprilTagLock(DoubleSupplier xSpeed, DoubleSupplier ySpeed, double deadband, int tagID) {
         if (m_aprilTagProvider == null) {
             return new PrintCommand("No AprilTag Provider Available");
         }

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

@@ -12,17 +12,15 @@ import org.photonvision.PhotonUtils;
 import org.photonvision.PhotonPoseEstimator.PoseStrategy;
 import org.photonvision.targeting.PhotonPipelineResult;
 import org.photonvision.targeting.PhotonTrackedTarget;
-import org.photonvision.targeting.TargetCorner;
 
 import edu.wpi.first.apriltag.AprilTagFieldLayout;
 import edu.wpi.first.apriltag.AprilTagFields;
 import edu.wpi.first.math.geometry.Transform3d;
 import edu.wpi.first.math.util.Units;
 import frc.robot.interfaces.IAprilTagProvider;
-import frc.robot.interfaces.ICamera;
 import frc.robot.interfaces.IVisualPoseProvider;
 
-public class PhotonVision implements ICamera,IAprilTagProvider,IVisualPoseProvider {
+public class PhotonVision implements IAprilTagProvider,IVisualPoseProvider {
 
     private final PhotonCamera camera;
 
@@ -30,11 +28,8 @@ public class PhotonVision implements ICamera,IAprilTagProvider,IVisualPoseProvid
 
     private final double cameraHeightMeters;
     private final double cameraPitchRadians;
-    private final double cameraWidth;
-    private final double cameraHeight;
 
-    public PhotonVision(String cameraName, Transform3d robotToCam, double cameraHeightMeters, double cameraPitchRadians,
-        double cameraWidth, double cameraHeight) throws IOException {
+    public PhotonVision(String cameraName, Transform3d robotToCam, double cameraHeightMeters, double cameraPitchRadians) throws IOException {
         camera = new PhotonCamera(cameraName);
 
         photonPoseEstimator = new PhotonPoseEstimator(
@@ -48,18 +43,6 @@ public class PhotonVision implements ICamera,IAprilTagProvider,IVisualPoseProvid
 
         this.cameraHeightMeters = cameraHeightMeters;
         this.cameraPitchRadians = cameraPitchRadians;
-        this.cameraWidth = cameraWidth;
-        this.cameraHeight = cameraHeight;
-    }
-
-    @Override
-    public double getWidth() {
-        return cameraWidth;
-    }
-
-    @Override
-    public double getHeight() {
-        return cameraHeight;
     }
 
     @Override