ExcaliburFRC/ExcaLib ? reverse-engineered prompt

Build me a Java library for FRC teams that makes robot code faster to write and easier to reuse.

I want it to feel like a toolkit for WPILib based robots, with ready to use pieces for common mechanisms, a solid custom swerve drive implementation, and a few advanced control helpers so teams do not have to start from scratch every season. Please organize it cleanly so the library is easy to understand and extend, with separate areas for commands, control, mechanisms, swerve, slam, and other useful utilities.

The goal is something a team could drop into a robot project and immediately use for real hardware, then customize as needed. Make the code practical, well structured, and centered around how FRC teams actually build robots. If you need to check current WPILib docs or best practices online, go ahead and do that.