Adjust Limelight distance calculation for camera Pose on robot

[ZachOrr]

One way to get more accurate distance calculations from vision would be to adjust our distance calculation to incorporate the Limelight's location on the robot. Ex: When we're facing the target head on, the Limelight is some distance behind the center of the robot. Our distance calculation is getting us distance to camera, but we're using it as the distance to the robot.

More thought should be done on this one to think about how to incorporate the distance readings using our tx value. Ex: If we sit the robot in front of the target and rotate the robot 10 degrees CW, the center of the robot should be roughly in the same spot, but our distance calculation will change slightly. The difference from the Limelight to the center of the robot is no longer just adding the offset of the camera. It's going to be a slightly different calculation. I believe we can solve this with some simple triangle math.