Document Swerve Drive Coordinates

[jwaltner]

The coordinate systems for swerve drive remain a challenge.

• [ ] Document the swerve drive and all coordinate systems
• [ ] Document how we define swerve drive module positions (FR, BR, BL FL)
• [ ] Document what the swerve drive module order is all about
• [ ] Document the 0 deg for pose
• [ ] What is the robot x and robot y with respect to the coordinate systems for autos.
• [ ] What are the angles with autos, on eclipse, going out the robot to the left, is +x and +y is going out of robot from the head.
• [ ] Talk about starting pose orientations and how that affects autos.
• [ ] Talk about resetting robot pose / angle, when does it happen and why would you ever want a manual reset?
• [ ] Anything else?
• [ ] ...