Swerve more gooder

[Cheekibreekiski]

• tune max module speed and max chassis speed
• add torque control
• TPU wheels
• acceleration-based odometry std devs - ready to test

[Cheekibreekiski]

Separate odometry only logging - ready to test

[Cheekibreekiski]

Fully templated plug-and-play swerve codebase - in progress

[Cheekibreekiski]

Choreo autos