Update drivetrain constants to match SDS MK5i swerve modules

[nlaverdure]

• Wheel base & track width
• Wheel radius
• Drive motor reduction
• Turn motor reduction
• Couple ratio

The Couple ratio is the amount that the wheel turns per rotation of the module’s heading. This is because on a coaxial module the drive and turning gears are mechanically linked, so when the module turns, the drive gears turn in reference to it by some amount.

• Wheel:carpet coefficient of friction
• Robot mass & moment of inertia