Evaluate Swerve Package From FRC

[h1d3m3]

• Looks like FRC has a framework specifically geared to swerve.
• Is it workable?

https://github.com/wpilibsuite/allwpilib/tree/master/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot

[mnik22]

I've looked through some of these classes and methods and they look really promising. Additionally, the wpilib api says that the SwerveDriveOdometry package will be useful "for complex tasks like path following"

https://first.wpi.edu/FRC/roborio/release/docs/java/edu/wpi/first/wpilibj/kinematics/package-summary.html

(The three SwerveDrive options from this list^)