Swerve robot test code in 2023 code base
Based on the WPILib example code in https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand and heavily leveraging experience from https://github.com/Team364/BaseFalconSwerve