In-case 1 or more swerve modules fail, we should be able to adjust our kinematics so that we can still operate even if we don't have all modules.
Multiple kinematics with chassis speeds to swerve module states, taking into account the amount and the position of all current modules (should be covered by creating a new kinematics class that compensates for this)
In-case 1 or more swerve modules fail, we should be able to adjust our kinematics so that we can still operate even if we don't have all modules.
Multiple kinematics with chassis speeds to swerve module states, taking into account the amount and the position of all current modules (should be covered by creating a new kinematics class that compensates for this)