Swerve Template

[wilsonwatson]

Adds season-inspecific swerve template. Based on similar PR in Jetsi repo, but since Jetsi is being taken apart, putting it here. Updated to test on 2025 bot before merging.

Test on 2025 bot before merging.

[legoguy1000]

It all looks fine, there is a lot to look at so i think as long as it gets tested and works I'm GTG. I think that we should quickly test this on Jetsi (if ready) before we swap the modules.

[wilsonwatson]

The code is actually modified to work on Crazy Joe, so we can test it separately from the work on Jetsi.

[legoguy1000]

The code is actually modified to work on Crazy Joe, so we can test it separately from the work on Jetsi.

when u say modified, do u just mean like CAN IDs and what not?

[wilsonwatson]

Yes, module and gyro configurations are modified to match what's currently in the 2025 repo. Additionally the camera is also configured to match 2025's "far" camera.

[wilsonwatson]

Tested and working on 2025 bot. Feedforward Characterization appears not to give the correct answers, but after manually tuning kV everything else seems to work. Did not test vision (as the field had been taken down), but this will likely change year-to-year anyway. As-is, I think this is a good template, and we'll fix issues as they arise in the 2026 season.