Configure Swerve #12
Description
Add CAN ids and offsets, and other configuration according to the guide found here
- modify template for cancoder
- CTRE ids (pigeon & cancoders)
- Rev ids (spark maxes)
- Update motor reductions to our sds mk4 L4 swerve modules
- measure trackWidth, wheelBase, and wheelRadius
- set offsets & inversions (step 15-18)
- FF calibration
- wheel radius calibration
- Drive PID
- max speed
- current limits