Code for 3d printable swerve drive
STM32 NUCLEO-F411RE used as main controller, Arduino UNO does not have enough power for using 4 SimpleFOC controllers Cheap gimbal brushless motors along with SimpleFOCMini controllers for drive motors and n20 500:1 motors for steer AS5600 encoders
Onshape link for model and parts: https://cad.onshape.com/documents/d429383bcee8295a505cbf1f/w/4cb76ce82d333762f6fc2bfa/e/bd259976b7240cf77be97213