Merge branch 'main' into remove-fieldconstants

diff --cc src/main/java/frc/robot/util/Vision/Vision.java
index 24bc4149f8cbd6b74cdc1e6ee7ee3c96b8d85f50,239735de9ba108e3685f031ea8c19c9c5fb51edc..d527ab0fc50f607174809f7e8f4e0e96e76f8703
--- 1/src/main/java/frc/robot/util/Vision/Vision.java
--- 2/src/main/java/frc/robot/util/Vision/Vision.java
+++ b/src/main/java/frc/robot/util/Vision/Vision.java
@@@ -429,12 -435,9 +429,9 @@@ public class Vision 
      public VisionCamera(String cameraName, Transform3d robotToCam) {
        camera = new PhotonCamera(cameraName);
        photonPoseEstimator = new PhotonPoseEstimator(
 -        aprilTagFieldLayout, 
 +        VisionConstants.field, 
-         VisionConstants.POSE_STRATEGY, 
          robotToCam
        );
-       photonPoseEstimator.setMultiTagFallbackStrategy(VisionConstants.MULTITAG_FALLBACK_STRATEGY);
-       photonPoseEstimator.setReferencePose(new Pose2d());
        lastPose = null;
      }