Limelight Changes.

Author: bluejblue

src/main/java/frc/robot/subsystems/drive/Drive.java

@@ -255,10 +255,10 @@ public void periodic() {
       // Apply update
       poseEstimator.updateWithTime(sampleTimestamps[i], rawGyroRotation, modulePositions);
 
-    //   Pose2d visionPose = getRobotVisionPose();
-    //   if(visionPose != null){
-    // //    poseEstimator.addVisionMeasurement(visionPose, sampleTimestamps[i]);
-    //   }
+     Pose2d visionPose = getRobotVisionPose();
+      if(visionPose != null){
+        //poseEstimator.addVisionMeasurement(visionPose, sampleTimestamps[i]);
+       }
     }
 
     // Update gyro alert