Finished Wiring
As you can tell by this extremely beautiful cable management and totally not messy arrangement of wires, I should have probably made a pcb for this (Maybe I will later).

Things Left to Do on Hardware

• Wire management

Things Left to Do on Software

• Test all hardware individually to isolate any potential wiring issues
• Program the rest of the swerveKinematics.cpp file
• Program in controls from the inputs from the flysky controller