If you have spark maxes you are probably running NEO motors, and will need the corresponding pinions. L2 is probably the safest option for the gear ratio since it balances speed and torque (pushing power/acceleration). L1 will have more torque, L3 will have more speed. There are a variety of example code bases (mainly java) out there including Yet Another Generic Swerve Library (YAGSL) and 364s Base Falcon Swerve (which would need to be adapted for your motors), but someone with more experience with swerve with NEO motors will probably have recommendations.
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