Feat/swerve drive support

[danielbrownmsm]

Adds swerve drive support per #11.

Thus far the basic framework is in place, kind of. TODO:

• swerve drive parameters in the parameters.toml file
• finish SwerveDrive subsystem constructor
• create methods in SwerveDrive subsystem
• add shuffleboard tuning and debugging values
• create commands
• create unit tests

[danielbrownmsm]

this pull request is superseded by #35