Alliance Side Poses

[StarbuckBarista]

In order to drive from the controller, the heading will always be set to zero, which is rendered in WPILib poses as facing away from the blue alliance operator consoles. This orientation is not how the gyroscope will respond when on the red alliance, making the field orientation incorrect when transitioning from autonomous to teleoperated. With this issue, pose updates with AprilTags will also not work when on the red alliance.

[StarbuckBarista]

Upon recreating the issue in simulation, some work was done in YAGSL/allianceOriented to try finding a solution by inverting the direction of translation and gyroscoping zeroing when on the red alliance. So far, this has seemed to work for both autonomous and teleoperated simulation, but will be physically tested later today.