Some minor changes, either reducing duplicate code, or generalizing code

src/main/java/frc/robot/constants/DrivetrainConstants.java

@@ -1,7 +1,11 @@
 package frc.robot.constants;
 
+import edu.wpi.first.math.Matrix;
+import edu.wpi.first.math.VecBuilder;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
+import edu.wpi.first.math.numbers.N1;
+import edu.wpi.first.math.numbers.N3;
 import edu.wpi.first.math.util.Units;
 
 public class DrivetrainConstants {
@@ -39,6 +43,11 @@ public class DrivetrainConstants {
     public static final double kXTranslationP = .5;
     public static final double kYTranslationP = .5;
 
+    // TODO How much do we trust gyro and encoders vs vision estimates.
+    // NOTE: Bigger values indicate LESS trust. Generally all three values for a given matrix should be the same
+    public static final Matrix<N3, N1> kSensorFusionOdometryStdDevs = VecBuilder.fill(0.1, 0.1, 0.1);
+    public static final Matrix<N3, N1> kVisionOdometryStdDevs = VecBuilder.fill(0.9, 0.9, 0.9);
+
     // YOU SHOULDN'T NEED TO CHANGE ANYTHING BELOW THIS LINE UNLESS YOU'RE ADDING A NEW CONFIGURATION ITEM
     public static final SwerveDriveKinematics kDriveKinematics = new SwerveDriveKinematics(
         new Translation2d(kWheelBase / 2, kTrackWidth / 2),

src/main/java/frc/robot/constants/ModuleConstants.java

@@ -14,6 +14,24 @@ import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
 import edu.wpi.first.math.util.Units;
 
 public class ModuleConstants {
+    public enum ModuleName {
+        kFrontLeft("FrontLeft"),
+        kFrontRight("FrontRight"),
+        kRearLeft("RearLeft"),
+        kRearRight("RearRight");
+
+        private String loggableName;
+
+        private ModuleName(String loggableName) {
+            this.loggableName = loggableName;
+        }
+
+        public String getLoggableName() {
+            return "Drivetrain/Modules/" + loggableName;
+        }
+        
+    }
+
     // DRIVING MOTOR CONFIG (Kraken)
     public static final double kDrivingMotorReduction = (14.0 * 28.0 * 15.0) / (50 * 16 * 45);