vision code not finished

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

@@ -8,8 +8,7 @@
 import com.pathplanner.lib.util.ReplanningConfig;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.Commands;
-import edu.wpi.first.wpilibj2.command.button.CommandPS4Controller;
+import edu.wpi.first.wpilibj2.command.button.CommandJoystick;
 import frc.robot.commands.drive.DriveCommandFactory;
 import frc.robot.commands.drive.FeedForwardCharacterization;
 import frc.robot.constants.Constants;
@@ -25,7 +24,7 @@ public class RobotContainer {
   private final DriveBase m_drive;
 
   // Controller
-  private final CommandPS4Controller controller = new CommandPS4Controller(0);
+  private final CommandJoystick controller = new CommandJoystick(0);
 
   // Dashboard inputs
   private final LoggedDashboardChooser<Command> autoChooser;
@@ -129,11 +128,11 @@ private void configureButtonBindings() {
     m_drive.setDefaultCommand(
         DriveCommandFactory.joystickDrive(
             m_drive,
-            () -> -controller.getLeftY(),
-            () -> -controller.getLeftX(),
-            () -> -controller.getRightX(),
+            () -> -controller.getY(),
+            () -> -controller.getX(),
+            () -> -controller.getZ(),
             0.1));
-    controller.cross().onTrue(Commands.runOnce(m_drive::stopWithX, m_drive));
+    // controller.cross().onTrue(Commands.runOnce(m_drive::stopWithX, m_drive));
   }
 
   public Command getAutonomousCommand() {

src/main/java/frc/robot/subsystems/vision/VisionBase.java

@@ -0,0 +1,28 @@
+package frc.robot.subsystems.vision;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+import edu.wpi.first.apriltag.AprilTagFieldLayout;
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Transform2d;
+import frc.robot.subsystems.drive.DriveBase;
+import org.photonvision.PhotonPoseEstimator.PoseStrategy;
+
+public class VisionBase {
+    public VisionIO m_io;
+    public DriveBase m_drive;
+    public VisionInputsAutoLogged m_inputs;
+    public Pose2d lastPose2d;
+
+    public VisionBase(
+        VisionIO io,
+        Transform2d cameraToRobot,
+        DriveBase drive
+    ) {
+        m_io = io;
+        m_inputs = new VisionInputsAutoLogged();
+    }
+
+    public void periodic() {
+    }
+}

src/main/java/frc/robot/subsystems/vision/VisionIO.java

@@ -0,0 +1,5 @@
+package frc.robot.subsystems.vision;
+
+public interface VisionIO extends LoggedIO<VisionInputs>{
+
+}

src/main/java/frc/robot/subsystems/vision/VisionIOCamera.java

@@ -0,0 +1,5 @@
+package frc.robot.subsystems.vision;
+
+public class VisionIOCamera implements VisionIO {
+
+}

vendordeps/photonlib.json

@@ -0,0 +1,57 @@
+{
+  "fileName": "photonlib.json",
+  "name": "photonlib",
+  "version": "v2024.1.2",
+  "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004",
+  "frcYear": "2024",
+  "mavenUrls": [
+    "https://maven.photonvision.org/repository/internal",
+    "https://maven.photonvision.org/repository/snapshots"
+  ],
+  "jsonUrl": "https://maven.photonvision.org/repository/internal/org/photonvision/PhotonLib-json/1.0/PhotonLib-json-1.0.json",
+  "jniDependencies": [],
+  "cppDependencies": [
+    {
+      "groupId": "org.photonvision",
+      "artifactId": "photonlib-cpp",
+      "version": "v2024.1.2",
+      "libName": "photonlib",
+      "headerClassifier": "headers",
+      "sharedLibrary": true,
+      "skipInvalidPlatforms": true,
+      "binaryPlatforms": [
+        "windowsx86-64",
+        "linuxathena",
+        "linuxx86-64",
+        "osxuniversal"
+      ]
+    },
+    {
+      "groupId": "org.photonvision",
+      "artifactId": "photontargeting-cpp",
+      "version": "v2024.1.2",
+      "libName": "photontargeting",
+      "headerClassifier": "headers",
+      "sharedLibrary": true,
+      "skipInvalidPlatforms": true,
+      "binaryPlatforms": [
+        "windowsx86-64",
+        "linuxathena",
+        "linuxx86-64",
+        "osxuniversal"
+      ]
+    }
+  ],
+  "javaDependencies": [
+    {
+      "groupId": "org.photonvision",
+      "artifactId": "photonlib-java",
+      "version": "v2024.1.2"
+    },
+    {
+      "groupId": "org.photonvision",
+      "artifactId": "photontargeting-java",
+      "version": "v2024.1.2"
+    }
+  ]
+}