Tuning drive train for path planner

[GabbyGenereux]

Swerve needs to be tuned for pathplanner to follow paths accurately.

This is roughly how it has gone in the past:

• Verify odometry is working reasonably correctly.
• Tune odometry. Push robot, measure how far it travelled and compare to how far odometry thought it went. Can use SwerveSubsystem's setOdometryCommand and getDriveToPoseCommand to make the testing easier/more accurate.
• Run a simple pathplanner path to drive in a straight line. Set drive P to 0, set pathplanners x/y and rot pid to 0, tune kS, kV based on graphs of module velocity when the path is running. (Note: kA doesn't have any effect so don't bother tuning it)
• Set all pid values back to original values and ensure it still follows the path correctly.
• Try sightly more complicated paths to verify.

[Khalil-Burns]

Another resource:
https://docs.google.com/document/d/1KHWqSANACrPFN5YmLEPDXcdzZJmMqqMxlha6LKrZbps/edit#heading=h.k9bhl2sxs9z6