booting difficulties + figured it out + swerve kinematics planning! I was having alot of trouble getting the code to flash to my ESP32. the board would dissapear, loose connection, etc. this began happening after adding alot more components to the board, which eventually led to me learning that some of the pins on my board are completely unuseable due to connections to PSRAM. I need almost all the pins on the board for my project, so I am switching to a different ESP32 model that doesnt have psram, as my project doesnt need all that processing strength. after that, I began learning the kinematics needed to program a swerve drive train, and began taking notes and making plans for code structure, etc.