Added Swerve Drive parameters for the practice base.

Author: Saiawe2024

src/main/java/frc/robot/parameters/SwerveDriveParameters.java

@@ -6,6 +6,7 @@
 
 import static frc.robot.parameters.MotorParameters.Falcon500;
 import static frc.robot.parameters.MotorParameters.NeoV1_1;
+import static frc.robot.parameters.SwerveModuleParameters.MK4IFast;
 import static frc.robot.parameters.SwerveModuleParameters.MK4Standard;
 
 import edu.wpi.first.math.controller.ProfiledPIDController;
@@ -38,7 +39,19 @@ public enum SwerveDriveParameters {
       new int[] { 12, 14, 16, 18 }, // CANCoder CAN IDs
       new double[] {144.23, 26.02, 201.18, 202.59},
       0.15,
-      0.15);
+      0.15),
+  PracticeBase2024(
+    67.6853,
+    Units.inchesToMeters(22.55),
+    Units.inchesToMeters(22.55),
+    MK4IFast,
+    Falcon500,
+    NeoV1_1,
+    new int[] { 2, 3, 4, 5, 6, 7, 8, 9 }, // drive, steer motor controller CAN IDs
+    new int[] { 12, 14, 16, 18 }, // CANCoder CAN IDs
+    new double[] {144.23, 26.02, 201.18, 202.59},
+    0.15,
+    0.15);
 
   public static class Constants {
     /**

src/main/java/frc/robot/parameters/SwerveModuleParameters.java

@@ -33,7 +33,16 @@ public enum SwerveModuleParameters {
   MK4VeryFast(Units.inchesToMeters(Constants.RobotConstants.WHEEL_DIAMETER_INCHES), 6.12, 12.8),
 
   /** An MK4 Swerve Module in the L4 - Too Fast configuration. */
-  MK4TooFast(Units.inchesToMeters(Constants.RobotConstants.WHEEL_DIAMETER_INCHES), 5.14, 12.8);
+  MK4TooFast(Units.inchesToMeters(Constants.RobotConstants.WHEEL_DIAMETER_INCHES), 5.14, 12.8),
+
+  /** An MK4I Swerve Module in the L1 - Standard configuration. */
+  MK4IStandard(Units.inchesToMeters(Constants.RobotConstants.WHEEL_DIAMETER_INCHES), 8.14, 150.0/7.0),
+
+  /** An MK4I Swerve Module in the L2 - Fast configuration. */
+  MK4IFast(Units.inchesToMeters(Constants.RobotConstants.WHEEL_DIAMETER_INCHES), 6.75, 150.0/7.0),
+
+  /** An MK4I Swerve Module in the L3 - Very Fast configuration. */
+  MK4IVeryFast(Units.inchesToMeters(Constants.RobotConstants.WHEEL_DIAMETER_INCHES), 6.12, 150.0/7.0);
 
   /**
    *