SwerveDriveKinematics supports choosing a center of rotation when calculating wheel speeds. We should be able to set the subwoofer as the center of rotation, and the robot will simply rotate around that point instead of how the orbital command works now
https://docs.wpilib.org/en/stable/docs/software/kinematics-and-odometry/swerve-drive-kinematics.html#using-custom-centers-of-rotation
SwerveDriveKinematics supports choosing a center of rotation when calculating wheel speeds. We should be able to set the subwoofer as the center of rotation, and the robot will simply rotate around that point instead of how the orbital command works now