Controls:

Controller	Input	Number	Direction	Function
Driver	LS-Y axis	1	Forward is positive	Move the robot forward/backwards
Driver	LS-X axis	0	Right is positive	Move the robot left/right while staying oriented to the field
Driver	RS-X axis	4	Right is positive	Turn the robot left/right in position

Gyro: Left is Positive, Right is Negative. Value between -180 to 180, 179.5* + 1* = -179.5* Swerve Modules: Left is negative, Right is Positive. AbsEncoderRaw must be in degrees, but can go forever angle

Things to lookup: Motor configurations Gearings Encoder counts Absolute sensor Wheel Size SwerveModuleState takes care of swerve rotation to keep us between 0-90* (just drives the motor backwards to flip it)