Swerve: Test and finalize on the physical robot

[henrikvtcodes]

AFAIK, the swerve code here works via simulator, but it has not been tested on the actual robot hardware.
This requires a few key prerequisites:

• Finish swerve wiring
• Assemble a basic control system for testing (roboRIO, PDP, Battery + Breaker; RIO can be controlled via USB or direct ethernet)
• Find and set CAN IDs (all motors have been upgraded and had CAN ids set, but not written down)
• • In the future I'd like to use a scheme; i.e. even ID for drive, odd ID for turning. Quick and dirty works for the purpose of this issue

[henrikvtcodes]

Finalize code for swerve