stuff.txt

    // TrajectoryConfig trajectoryConfig = new TrajectoryConfig(
    //   Constants.SwerveDrivetrain.kDriveMaxSpeedMPS, 
    //   Constants.SwerveDrivetrain.kDriveMaxAcceleration);
    // trajectoryConfig.setKinematics(swerveDrivetrain.getKinematics());

    // Trajectory trajectory = TrajectoryGenerator.generateTrajectory(
    //   new Pose2d(0, 0, new Rotation2d(0)),
    //   List.of(
    //     new Translation2d(1, 2),
    //     new Translation2d(3, 1)
    //   ), 
    //   new Pose2d(4, 2, Rotation2d.fromDegrees(180.0)),
    //   trajectoryConfig);
    
    // swerveDrivetrain.getField().getObject("traj").setTrajectory(trajectory);

    // SwerveControllerCommand swerveControllerCommand = new SwerveControllerCommand(
    //   trajectory, 
    //   swerveDrivetrain::getSimPose, 
    //   swerveDrivetrain.getKinematics(), 
    //   swerveDrivetrain.xController, 
    //   swerveDrivetrain.yController, 
    //   swerveDrivetrain.thetaController, 
    //   swerveDrivetrain::setModuleStates,
    //   swerveDrivetrain);
    
    // return new SequentialCommandGroup(
    //   new InstantCommand(() -> swerveDrivetrain.resetSimOdometry(trajectory.getInitialPose())),
    //   swerveControllerCommand,
    //   new InstantCommand(() -> swerveDrivetrain.stopModules())
    // );