Add mecanum support

[spacey-sooty]

Pipe dream for if any FTC teams wanted to use Choreo for 2027

[oh-yes-0-fps]

If the dynamics are too difficult how silly would it be to just use splines? So they could take advantage of the choreo app/lib instead of just leaving them out all together.

[calcmogul]

Using splines defeats the purpose of Choreo.

Mecanum drive dynamics are basically swerve drive with the force vector directions constrained in the robot frame. For example, differential drive force vectors are constrained to forward, and mecanum drive force vectors are constrained to 45° angles.