Update apriltag format to 36h11

source/docs/software/vision-processing/apriltag/apriltag-intro.rst

@@ -19,25 +19,22 @@ AprilTags have been in development since 2011, and have been refined over the ye
 
 `Starting in 2023, FIRST is providing a number of tags, <https://www.firstinspires.org/robotics/frc/blog/2022-2023-approved-devices-rules-preview-and-vision-target-update>`__ scattered throughout the field, each at a known :term:`pose`.
 
-All of the tags are from the 16h5 family.
+In 2024, `the tag family was updated to the 36h11 family <https://www.firstinspires.org/robotics/frc/blog/2023-technology-updates-past-present-future-and-beyond>`__.
 
-.. note:: Many of the pictures in this documentation are from the 36h11 family, which are similar (but not identical) to the 16h5 actually in use for FRC. All the underlying concepts are the same.
-
-.. collapse:: What is the 16h5 family?
+.. collapse:: What is the 36h11 family?
 
    The AprilTag library implementation defines standards on how sets of tags should be designed. Some of the possible tag families `are described here <https://www.ssontech.com/docs/SynthEyesUM_files/Choosing_an_AprilTag.html>`__.
 
-   FIRST has chosen the 16h5 family for 2023. This family of tags is made of a 4x4 grid of pixels, each representing one bit of information. An additional black and white border must be present around the outside of the bits.
+   FIRST has chosen the 36h11 family for 2024. This family of tags is made of a 6x6 grid of pixels, each representing one bit of information. An additional black and white border must be present around the outside of the bits.
 
-   While there are :math:`2^{16} = 65536` theoretical possible tags, only 30 are actually used. These are chosen to:
+   While there are :math:`2^{36} = 68,719,476,736` theoretical possible tags, only 587 are actually used. These are chosen to:
 
    1. Be robust against some bit flips (IE, issues where a bit has its color incorrectly identified).
    2. Not involve "simple" geometric patterns likely to be found on things which are not tags. (IE, squares, stripes, etc.)
    3. Ensure the geometric pattern is asymmetric enough that you can always figure out which way is up.
 
-|
 
-All tags will be printed such that the tag's main "body" is 6 inches in length.
+All tags will be printed such that the tag's main "body" is 6.5 inches in length.
 
 .. image:: images/tag_size.png
    :alt: Diagram showing the dimensions of an FRC AprilTag fiducial target.
@@ -48,7 +45,7 @@ For home usage, tag files may be printed off and placed around your practice are
 Software Support
 ----------------
 
-The main repository for the source code that detects and decodes AprilTags `is located here <https://github.com/AprilRobotics/apriltag>`__.
+The main repository for the source code that detects and decodes AprilTags `is located here <https://github.com/wpilibsuite/apriltag/tree/main>`__.
 
 WPILib has forked the repository to add new features for FRC. These include: