DriveSubsystem in SwerveControllerCommand example -- does it use the new Position Delta Odometry correctly?

[chauser]

I noticed that with the Position Delta Odometry changes made in Oct '22 it is no longer necessary to reset encoders when resetting odometry. Yay!
However, resetting the encoders or the gyro without considering that action's effect on the odometry is probably going to end up with a very confused picture of where the robot is and where it is headed.
What I think should be the case now is: the gyro and the encoders are never reset; and all queries for the robot heading and position should be made of the odometry and not directly to the gyro or swerve modules. The only query for the gyro heading should be in the periodic method that updates the odometry. Methods in the DriveSubsystem that reset encoders and the gyro should be removed. getHeading() and getRotation2d() should query the odometry rather than the gyro; and zeroHeading() should be done using resetOdometry(). I guess getTurnRate() still needs to query the gyro but that doesn't depend on the offset so that's ok.
I'm planning to make these changes this evening and we'll see how it goes. If I'm headed down the wrong path please let me know! Thanks.

[calcmogul]

Removing the sensor reset() calls makes sense to me.