Adding localization feature

templates/localization/docs/LOCALIZATION_GUIDE.md

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+# Robot Localization Guide
+
+## What is Localization?
+
+Answering: "Where is my robot on the field?"
+
+## The Grid System
+
+12ft x 12ft field → 12x12 grid of 12" cells
+
+```
+Cell (0,0) = Red backstage
+Cell (11,11) = Blue backstage
+Cell (6,6) = Center
+```
+
+## Sensor Fusion
+
+Combine three sensors:
+
+1. **Odometry (Encoders)** - Track wheel rotation
+   - Accuracy: ±1" per foot (cumulative drift)
+   - Always available
+
+2. **IMU (Gyroscope)** - Measure heading
+   - Accuracy: ±2° (non-cumulative)
+   - Corrects heading drift
+
+3. **Vision (AprilTags)** - Detect position markers
+   - Accuracy: ±2" (when visible)
+   - Ground truth - resets drift
+
+## Fusion Strategy
+
+```
+if vision available:
+    position = vision (most accurate)
+    correct odometry
+elif IMU available:
+    position = odometry
+    heading = IMU
+else:
+    position = odometry only (dead reckoning)
+```
+
+## Fault Tolerance
+
+| Sensors | Accuracy | Confidence |
+|---------|----------|------------|
+| All 3 | ±2" | 100% |
+| Odometry + IMU | ±4" | 70% |
+| Odometry only | ±12" | 40% |
+
+System keeps working when sensors fail!
+
+## Usage
+
+```java
+RobotLocalizer localizer = new RobotLocalizer(odometry, imu, vision);
+localizer.setInitialPose(new Pose2D(12, 12, 0));
+
+while (opModeIsActive()) {
+    localizer.update();
+    
+    GridCell cell = localizer.getCurrentCell();
+    double confidence = localizer.getConfidence();
+    
+    // Make decisions based on position
+}
+```
+
+See README.md for full examples.