Swerve Drive Improvements

[danielbrownmsm]

Summary Just some minor things we should probably do to make the swerve driver better at driving so we can play good defense.

Work Required

• desaturate teleop wheel speeds (if one of the drive outputs is greater than 1, divide all the drive outputs by it)
• reduce strafe deadband
• reduce steer deadband
• instead of multiplying steer by some number to make it turn fast, just make it so that if steer is large and drive/strafe is small, then make the drive output larger
• decceleration limits in tele-op driving (might want to look at a slew rate limiter for this?) basically, when we go from some drive/strafe power to 0, we want the motor output to not immediately go to 0
• make us accelerate faster though, to avoid Eli full-sticking it all the time

Verification

• CI passes
• Eli says it feels good enough

[danielbrownmsm]

• remove control decay

[deadlyvortex]

Deferring decceleration limits using slew rate limiters for later.

[deadlyvortex]

Deferring Increasing the Acceleration.