**Swerve drive code was heavily inspired by team 364's swerve drive code for falcon motors, with some modifications for our purposes.
Basic Swerve Code for a Swerve Module using Falcon Motors, a CTRE CANCoder, and a CTRE Pigeon Gyro
This was an off-season code that was created during the fall of 2023. Major improvements from the season include
the introduction of command-based architecture and PathPlanner for autonomous sequences.
This code is natively set up to use a Xbox controller to control the swerve drive.