Swerve Auto Balance Code Examples?

Hello all, my team is looking for examples of how you can do an auto balance with swerve drive.

We are struggling to get it ours work, simply explaining the workflow would be just as helpful.

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This was ours last week. You can improve upon it I’m sure but it met the basic need to dock or engage. Though the pitch values may be robot dependent. Someone suggested the slow speed ~1 ft/s. For us the fast speed was ~7 ft/s. Also, you should zero your heading in auto init.