Swerve pedro drivetrain#115

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Kooolpool wants to merge 8 commits intotechnototes:mainfrom

Commits on Dec 16, 2025

started on implementation of swerve
koolpoolo
committed

Commits on Jan 23, 2026

switched to PIDF steering controller with actual class
koolpoolo
committed

Commits on Jan 24, 2026

updated vectors
koolpoolo
committed