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photonlib-java-examples/README.md

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+## PhotonLib Java Examples
+
+All examples demonstrate controlling a swerve drive with outputs from PhotonVision.
+
+Simulation is available to demonstrate the concepts - swerve physics is approximated.
+
+You can access a stream of what the simulated camera sees by going to https://localhost:1182 .
+
+### Running examples
+
+For instructions on how to run these examples locally, see [Running Examples](https://docs.photonvision.org/en/latest/docs/contributing/building-photon.html#running-examples).
+
+---
+
+### [**`aimattarget`**](aimattarget)
+
+A simple demonstration of using PhotonVision's 2d target yaw to align a differential drivetrain with a target.
+
+**Keyboard controls:**
+- Translate field-relative: WASD
+- Rotate counter/clockwise: Q/E
+- Perform vision alignment: Z
+
+---
+
+### [**`aimandrange`**](aimandrange)
+
+Extends`aimattarget` to add getting in range of the target.
+
+**Keyboard controls:**
+- Translate field-relative: WASD
+- Rotate counter/clockwise: Q/E
+- Perform vision alignment: Z
+
+---
+
+### [**`poseest`**](poseest)
+
+
+The example also has simulation support with an approximation of swerve drive dynamics.
+
+<img src="https://github-production-user-asset-6210df.s3.amazonaws.com/7953350/268862944-3392e69a-7705-4dbc-9eb8-0d03a6e27b9e.png" width=60% height=60%>
+
+<img src="https://github-production-user-asset-6210df.s3.amazonaws.com/7953350/268857280-bae145b8-356e-4afb-b842-597dbea60df6.png" width=60% height=60%>
+
+**Keyboard controls:**
+- Translate field-relative: WASD
+- Rotate counter/clockwise: Q/E
+- Perform vision alignment: Z
+- Offset pose estimate: X