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Draft: Resolve "Swerve Conversion"

Clementine Allen requested to merge 727-swerve-conversion-2 into develop

Progress on swerve conversion. Its really jsut all copy and pasted from old swerve, but distributed between new swerve and wheel, and with updates to WheelConfig.

This is not ready to merge until the pending wheel changes from another branch are merged in, however comments on these changes would be helpful!

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