swerve-base

Code for a basic swerve drive base

Features:

• Swerve drive
• Heading correction
• WPILib Sim support
• AdvantageScope support
• Pose estimation

TODO/WIP:

• Auton setup
• Test heading correction

Sim Controls

• W, A, S, D - Basic field-relative translation movement
• Left Arrow, Right Arrow - Rotational movement
• R, E - Increase/Decrease speed scaling (needs to be held down)
• N (Holding down) + W, A, S, D - Robot Relative driving
• Comma - Reset heading