This is a completed example of how April tags can be implemented in FTC. (This particular example is based on FTC Power Play but can be used in any Apriltag application)

NOTE: It is advised that you watch the YouTube video I made on how to set this up yourself, as it will help with modifying the code to work for your use case specifically! Video Link: https://www.youtube.com/watch?v=GXeSsbGXURM

Thanks and I hope this helps you out! -Reese Delaney (Team 20177)