swerve drivetrain inputs are inverted

[thetaspirit]

What seems to have happened is that we are giving the drive method inverted x value (forward-backward input) and inverted rotation. To fix that, the drive motors were inverted. Meaning, that while this isn't a problem when the drivetrain is controlled with joysticks, it's a problem with position tracking. It does not uphold the contract established by our contract with the drivetrain.