How to use the pyfrc.physics.drivetrains function in pyfrc

def test_two_motor_drivetrain(l_motor, r_motor, output):
    result = drivetrains.TwoMotorDrivetrain(speed=1 * units.fps).calculate(
        l_motor, r_motor
    )
    result = (result.vx_fps, result.omega)
    assert abs(result[0] - output[0]) < 0.001
    assert abs(result[1] - output[1]) < 0.001

def test_four_motor_swerve_drivetrain(
    lr_motor,
    rr_motor,
    lf_motor,
    rf_motor,
    lr_angle,
    rr_angle,
    lf_angle,
    rf_angle,
    output,
):
    wheelbase = sqrt(2)
    result = drivetrains.four_motor_swerve_drivetrain(
        lr_motor,
        rr_motor,
        lf_motor,
        rf_motor,
        lr_angle,
        rr_angle,
        lf_angle,
        rf_angle,
        speed=1,
        x_wheelbase=wheelbase,
        y_wheelbase=wheelbase,
    )

    assert abs(result.vx_fps - output[0]) < 0.001
    assert abs(result.vy_fps - output[1]) < 0.001
    assert abs(result.omega - output[2]) < 0.001

def update_sim(self, hal_data, now, tm_diff):
        '''
            Called when the simulation parameters for the program need to be
            updated.
            
            :param now: The current time as a float
            :param tm_diff: The amount of time that has passed since the last
                            time that this function was called
        '''
        
        # Simulate the drivetrain
        l_motor = hal_data['pwm'][1]['value']
        r_motor = hal_data['pwm'][2]['value']
        
        speed, rotation = drivetrains.two_motor_drivetrain(l_motor, r_motor)
        self.physics_controller.drive(speed, rotation, tm_diff)
        
        
        # update position (use tm_diff so the rate is constant)
        self.position += hal_data['pwm'][4]['value'] * tm_diff * 3
        
        # update limit switches based on position
        if self.position <= 0:
            switch1 = True
            switch2 = False
            
        elif self.position > 10:
            switch1 = False
            switch2 = True
            
        else:

updated.
            
            :param now: The current time as a float
            :param tm_diff: The amount of time that has passed since the last
                            time that this function was called
        '''
        
        # Simulate the drivetrain
        # -> Remember, in the constructor we inverted the left motors, so
        #    invert the motor values here too!
        lr_motor = -hal_data['pwm'][1]['value']
        rr_motor = hal_data['pwm'][2]['value']
        lf_motor = -hal_data['pwm'][3]['value']
        rf_motor = hal_data['pwm'][4]['value']
        
        vx, vy, vw = drivetrains.mecanum_drivetrain(lr_motor, rr_motor, lf_motor, rf_motor)
        self.physics_controller.vector_drive(vx, vy, vw, tm_diff)