Constants and Cleanup

[YehudaRothstein]

This pull request makes several updates to the robot code, focusing on improvements to field constants, swerve drive configuration, and the superstructure command logic. The changes enhance flexibility for field layouts, enable and update swerve drive controls, and refactor the superstructure for clarity and maintainability.

Field and Swerve Drive Updates:

• Updated field constants to dynamically use the 2025 field layout via AprilTagFieldLayout, replacing hardcoded values and references to specific reef centers. This makes the code more adaptable to different field configurations. (Constants.java) [1] [2]
• Enabled and updated the swerve drive subsystem and its default command, allowing for driver control and odometry reset using the PS5 controller. (RobotContainer.java) [1] [2]

Superstructure and Command Refactoring:

• Introduced SuperstructureConstants for shared parameters like HANDOFF_TIME_DELAY, improving code clarity and maintainability. (Constants.java, Superstructure.java) [1] [2] [3]
• Refactored the Superstructure class to reorganize and clarify command methods, move logging annotations, and improve the handling of state-setting commands. Some methods were moved or re-ordered for better grouping, and the use of the new constant for handoff timing was implemented. (Superstructure.java) [1] [2] [3]
• Updated process command triggers and command scheduling in the Superstructure constructor for improved readability and consistency. (Superstructure.java)

Additional Improvements:

• Exposed both the swerve and Aurora client poses via new network table-accessible getters. (RobotContainer.java)
• Minor cleanups and formatting improvements in the RobotState enum. (RobotState.java) [1] [2]

These changes collectively improve the adaptability, readability, and maintainability of the robot codebase.