Tune Swerve Drive Encoders and Kinematics

## 5. Swerve Drive Calibration

**Parameters to Tune (`frc/robot/subsystems/SwerveDrive.java`):**
* `MagnetOffset`: The absolute encoder offsets for the `LF`, `RF`, `LR`, and `RR` modules.
* **How to tune:**
1. Physically align all four wheels so they are perfectly straight (pointing forward).
2. Read the absolute position from Phoenix Tuner.
3. Input those offsets into the `MagnetOffset` configurations so the wheels read `0.0` when straight.
* `TRACK_WIDTH` / `TRACK_LENGTH`: Ensure these exactly match the physical wheel-center-to-wheel-center distances on your real robot, or autonomous rotation will be skewed.

Start by reading frc/robot/subsystems/SwerveDrive.java and inspect the MagnetOffset, TRACK_WIDTH, and TRACK_LENGTH configurations. Align the LF, RF, LR, and RR wheels, read their absolute positions in Phoenix Tuner, and verify the physical wheel-center distances. Done means straight wheels report 0.0 and the dimensions match the real robot.

Written by the indexing model from the issue text.