Create Swerve.md

Author: shravyamandadi

Swerve.md

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+# How to make swerve
+## First: make a swerve object using this code with a constructor:
+```public SwerveBase(SwerveDriveKinematics kinematics, Matrix<N3, N1> stateStdDevs, Matrix<N3, N1> visionMeasurementDevs, SwerveModuleConfig... configs)```
+- SwerveDriveKinematics: Convert robot speed into individual module speed
+- statesStdDevs: Room for error for your modules 
+- visionMeasurementDevs: The room for error in your vision measurements
+- SwerveModuleConfig: Defines swerve modules
+
+
+## Some of the things you can do with this swerve code are:
+- drive: Takes in a variety of parameters to get where you need to go
+- assign: Takes in Chassis velocity and converts robot speed to individual module speed
+- stop: Stops movement of the robot
+- setBrakeMode: Sets each module into brake mode
+- setDriveVoltage: Sets each module to specified voltage
+- getPose: Returns the position of the robot
+- getTranslation: Returns translation of the robot's position
+- getRawEstimatedPose: returns estimated position of the robot
+- addVisionMeasurement: Logs the position of the robot at a given time for vision
+- resetEncoders: sets the value of the encoders to be default value
+- resetOdometry: resets the value of the odometry to default position
+- getStates: gets the status of each swerve module
+- getPositions: returns the positions of each swerve module
+- setModuleStates: sets how much each module is turned and their velocities
+- periodic: updates log of the robots position and logs estimated position
+- resetAll: Resets odometry, encoders, and gyro to zero
+- xLock: sets the robot to turn wheels to all face inward to center of robot
+- oLock: sets the direction of all wheels for broad sides to face inward to center
+- zeroLock: sets all wheels straight
+- characterize: uses System identification to use PID
+- getGyroRotation2d: returns the rotation of the robot in degrees
+- resetGyro: resets the value of the gyro to default reset value
+- getFieldVelocity: converts the velocity of each of the modules to the chassis speed and returns the value
+- getRobotVelocity: uses the speeds of each of the modules to return the chassis speed
+- getSpeed: returns the speed of the robot
+- getModule: Uses the module number to return the module
+- getPredictedPose: returns the estimated position of the robot
+- getDisplacementTo: returns the value of the robot's change in position to get to a certain point
+- getDistanceTo: returns the distance needed to travel to a specific point 
+- getAngularDisplacementTo: returns the change in the robot's angular positon to get to a certain point or angle
+- getAngleTo: bounds the change in angle between -pi and pi
+- nearestPose2d: returns the nearest postion of the robot within a set of points
+- nearestTranslation2d: returns the nearest translation of the robot with a set of translations
+- identifyOffsetsCommand: identify the angle that the robot has been offset
+
+  
+
+# NOTE: This is just a template and is meant to be adjusted to individual needs