readme update

README.md

@@ -1,20 +1,19 @@
 # SwerveBase-CTRE
 [![CI](https://github.com/Team334/SwerveBase-CTRE/actions/workflows/main.yml/badge.svg)](https://github.com/Team334/SwerveBase-CTRE/actions/workflows/main.yml)
 
-A base project for future robots that has CTRE generated swerve drive code and PhotonVision AprilTag processing.
+A base project for future robots that has CTRE generated swerve drive code and Photon Vision AprilTag processing.
 
 # Features
 - Swerve drive code using CTRE's swerve code generator.
 - Device logging with SignalLogger and data logging with Epilogue and DogLog.
 - Device Fault Logging as telemetry for at-home testing. The faults are also logged with DogLog for post-match review.
 - Pre-match self check with custom self-check commands.
+- A custom `VisionPoseEstimator` class that reads from a Photon Vision camera and updates the swerve pose estimator with filtered and disambiguated AprilTag vision measurements.
 
 # Todo
-- Add photon vision code (LOOK AT THE 2025 BETA UPDATES FIRST).
 - Add more unit tests.
 - Add proper licenses.
 - 6328 wheel radius characterization.
 
 ## 2025 Latest Beta Known Issues
 - To run sim, do `./gradlew simulateJava` instead of using the WPILib extension (for Epilogue to work).
-- Epilogue can't handle annotated inner classes (see [this](https://github.com/wpilibsuite/2025Beta/issues/54) issue) which has been fixed in [this](https://github.com/wpilibsuite/allwpilib/pull/7439) pull request for the next wpilib release.