Use TagTracker-v2 instead.
TagTracker is the first FRC implementation of the AprilTag standard capable of full robot localization. It achieves this by combining estimated poses of multiple tags, even across multiple cameras!
This project was made public by FRC Team 2129, Ultraviolet.
This project was modified by FRC Team 3620, The Average Joes.
To put this on your own robot, check out the wiki!