CTRESwerveTest

To Tune in swerve:

• adjust azimuth gains if needed (steerGains in TunerConstants.java)

• tune closed loop drive gains (driveGains in TunerConstants.java)

• measure current at which wheels begin to slip by driving into a wall (kSlipCurrentA in TunerConstants.java)

• measure free speed (in m/s) at 12v output by driving robot on blocks (kSpeedAt12VoltsMps in TunerConstants.java)

• Convert to Lightning Container and Robot