Adding initial swerve code

[Dhairya-exe]

Fully working drive code with a state machine.

[Copilot]

Pull Request Overview

This PR implements initial swerve drive functionality for an FRC robot with a comprehensive state machine architecture. The implementation includes custom math utilities, swerve module control, and autonomous path following capabilities.

Key changes:

• Adds complete swerve drive subsystem with Phoenix 6 motor controllers and CANcoders
• Implements custom Vector and PID math utilities for drive calculations
• Creates state machine architecture for coordinating robot subsystems
• Includes path following and point-to-point navigation commands

Reviewed Changes

Copilot reviewed 29 out of 35 changed files in this pull request and generated 6 comments.

Show a summary per file

File	Description
vendordeps/*.json	Adds vendor dependencies for Phoenix 6, AdvantageKit, and WPILib commands
src/main/java/frc/robot/tools/math/*	Custom math utilities including Vector class and PID controller
src/main/java/frc/robot/tools/SwerveModule.java	Individual swerve module control with motor configuration and drive logic
src/main/java/frc/robot/subsystems/Drive.java	Main drive subsystem with swerve kinematics and state machine
src/main/java/frc/robot/subsystems/Superstructure.java	High-level state machine coordinator
src/main/java/frc/robot/commands/*	Commands for autonomous driving and IMU zeroing
src/main/java/frc/robot/*.java	Main robot class, container, and operator interface