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