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1/16/24 Swerve drive speeds from various motors in seconds to traverse half field, full field, and full field w/ return

Motor type half field time full field time full w/ return (there and back)
swerve original (Neo motor L1) 2.3 4.6 9.2
swerve fast (Neo motor L4 1.7 3.4 6.8
optimal (Kraken motor) 1.2 2.4 4.8

Essentially, we need to account for speed up and slow down time with acceleration. These calculations factors that into account. The ramp up and slow down times can be represented by a curve, where the half field is approaching their max speed, and it takes the same amount of time to slow back down to 0. for more specifics at "x" time for example, check "Robot-speed-vs-time-calc-User-friendly" in 2024 analysis and design in Build season

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