Rework swerve auto

[roterrex]

Path planner is likely not a good time sink for the coming year.
Reworking the existing auto i made in <1hour at regional to be more accurate/capable may be a better option.

Primarily, i am unsure of the state of swerve odometry, this needs to be tested maybe fixed.
Secondly, it was never the most accurate, you may notice some magic numbers in my code to accout for this. The error is likely a gear ratio or other similar issue in reading from the wheel encoders. This error needs fixing.
Finally, the interface is a little odd. You provided hypot distance 'd' and field rel speeds 'x' and 'y' which worked for the primary 8 directions but made diagonals hard. This could be corrected to a field rel distance 'x' and 'y' with total speed 'v' to make auto programming easier.