Side Quest
The adafruit motor shield v2 that I am using to control the n20 motors suddenly stopped working today. After a long struggle, I managed to trace it back to the A4 and A5 pins being attached to the nucelo alongside the dedicated SDA and SCL pins. Since SDA and SCL are tied to A4 and A5 on normal arduinos but seemingly not on nucelos, simply removing those pins fixed all issues. A very unsatisfying end to a 3 hour struggle :(

I did mange to test out the front left module, and spent some time tuning the azimuth pid.

Things Left to Do on Hardware

• Wire management

Things Left to Do on Software

• Test the rest of the hardware (FR, BR, and BL modules, radio communication, and gyro).
• Program the rest of the swerveKinematics.cpp file
• Program mpu6050 gyro
• Program in controls from the inputs from the flysky controller