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Refactor swerve drive, add unit tests, and merge latest main - #8

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Ernie3 wants to merge 18 commits into
mainfrom
cursor/swerve-drive-refactor-mr-256b
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Refactor swerve drive, add unit tests, and merge latest main#8
Ernie3 wants to merge 18 commits into
mainfrom
cursor/swerve-drive-refactor-mr-256b

Revert desktop sim teleop odometry experiments

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