[entertainr]

We have been working on a swerve drive before the 2016 season begins. We are planning on making many more modifications, but this is the current rough draft. I'm happy to answer any questions that teams may have.

I would like to take the time and give a big shout out to Apple Pi for their example code that is the base of this code. I would also like to give another huge shout out to Omar Zrien at CTRE for helping me out with the walls I hit.