This is a swerve drivetrain + swerve simulation to test code
You can configure an input device to be the keyboard or a joystick.
Vertical Velocity: Axis 1
Horizontal Velocity: Axis 0
Angular Velocity: Axis 2
Rotation Corners (for evasive): H, J, K, L (buttons 5-8)
Change to field reference: Hold 'Z' (button 1)
Reset Heading: press X (button 2)