tree 5e3f32a521c086828ef2d9f0f40db15406cf6e66
parent f65b1a5d84ffa08311b78674ca592306b1ffdebc
author James Kuszmaul <jabukuszmaul+collab@gmail.com> 1728455964 -0700
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> 1729136195 -0700
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Add some "simplified" swerve dynamics

This provides some dynamics which ignore a bunch of the dynamics from
the more complete physics, with the intention of trying to provide
something that is cheaper to linearize and work with while being easier
to verify/reason about than the more complex physics.

Change-Id: I654d42d3fbdd2fa9f8f7e666f72ff99d4ce3ada0
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>