In this SwerveDrive implementation we will
+ Create 4 swerve modules
+ Create a swerve subsystem that uses these 4 modules
+ Create a teleop (joystick-operated) command to drive the chassis with swerve drive
+ Create an autonomous command that makes the chassis follow a predefined path
- Make sure to change constants according to your robot!@@ This has in-depth code comments that can help ANYONE understand what's happening! @@