Vision detection merge into main

[Anonymadly]

Features :

• Vision has been fixed (had some cases of null data causing code crashes)

• Note Detection has been added

  • Detection is accurate up to 3 meters from the camera, decently trustworthy up to 4
  • Detection data is filtered over the previous 15 data points to mitigate shakiness
  • Stale data is removed after 1.5 seconds

• Vision and Detection now run on separate threads from the main robot loop

• Bot can face SPEAKER or a Note while driving

  • The PID object for this SwerveRequest wasn't accessible despite being a public variable so an extended class is used as a workaround

• PathPlanner is tuned and so are other bot constants like max speed

• Control scheme for swerve is reworked and explained in RobotContainer.java

I think that's it.