Rewrite to model 95's Swerve code

[thenetworkgrinch]

• Separate SwerveDrive, SwerveModule, and SwerveController configuration options from Constants.
• Implement SwerveMotor augmentation for SwerveModule.
• Implement AbsoluteEncoder augmentation for SwerveModule.
• Separate SwerveModule constants from SwerveMotor constants.
• Add on state-space estimation.
• Move helper functions into SwerveUtil.
• Document every function.
• Separate functions into correct units.
• Extrapolate calculated constants into Configuration classes for SwerveDrive, SwerveModule, and SwerveMotor.

[thenetworkgrinch]

Issue and development will continue on YAGSL-Example