better files and data structures

NOTE: still haven't added the actual lerp function yet

I did add the end condition

src/main/java/frc4388/robot/subsystems/SwerveDrive.java

@@ -156,6 +156,12 @@ public class SwerveDrive extends SubsystemBase {
     );
   }
 
+  public void stopModules() {
+    for (SwerveModule module : this.modules) {
+      module.stop();
+    }
+  }
+
   /**
    * Resets the odometry of the SwerveDrive to 0.
    * *NOTE: If you reset your gyro, this method MUST be called with the new gyro angle and wheel encoder positions.