Dev

[Ishan1522]

This is mucho important

[JacksonElia]

What specifically do you want me to look over? Also, what is the purpose/main changes you've made here? I assume for simulations?

[Ishan1522]

yes the main purpose of this is to implement simulations as described here in SwerveDrive, I believe the entire most of the physics sim impl is done rn, I just gotta make sure it works. There are some random stuff in this pr (and I'll prolly add more) so dats mb.

As for what you can review: I mostly have been wanting yall to stay up to date with the code as it changes, hence why I request reviews on almost every pr. Currently this pr is very unclean (but I'm somewhat sure it works), I will make stuff better to look at (and hopefully tested). Then u probs will have somthn valuable to look at. For now maybe look at da structural changes w/ akit or smthn

[Ishan1522]

i approve