Correction for SwerveDriveOdometry object

[dlezcan1]

There should be a getPosition() function for your swerve module to be fed into the odometry model. Example code for generating a SwerveModulePosition object is below: https://github.com/wpilibsuite/allwpilib/blob/ce550705d7cdab117c0153a202973fc026a81274/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/SwerveModule.java#L100C1-L103C4

The from there, in the drivetrain, the SwerveDriveOdometry object can be generated as below: https://github.com/wpilibsuite/allwpilib/blob/ce550705d7cdab117c0153a202973fc026a81274/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/Drivetrain.java#L35C1-L44C12

The following changes could help:

• [x] Add getPosition() function to return SwerveModulePosition into SwerveModule class
• [x] Can be removed and we can use embedded SwerveModule.getPosition() function instead when we need positions. https://github.com/BLlakers/2024_Official/blob/e3a4392c991e3682424530a519154274a954cec3/src/main/java/frc/robot/subsystems/DriveTrainPID.java#L42
• [x] Update the positions with the embedded SwerveModule.getPosition() https://github.com/BLlakers/2024_Official/blob/e15ffea5e70417631f591286d63181c429d55449/src/main/java/frc/robot/subsystems/DriveTrainPID.java#L172