fix(swerve): Change rotation velocity back to radians.

Author: haydenheroux

Diff for: src/main/java/frc/robot/swerve/DriveCommand.java

@@ -90,8 +90,8 @@ private ChassisSpeeds clampChassisSpeeds(ChassisSpeeds desiredChassisSpeeds) {
     double vyMetersPerSecond =
         yAccelerationLimiter.calculate(desiredChassisSpeeds.vyMetersPerSecond);
     double omegaRadiansPerSecond =
-        rotationVelocityClamper.apply(
-            Units.radiansToRotations(desiredChassisSpeeds.omegaRadiansPerSecond));
+        Units.rotationsToRadians(rotationVelocityClamper.apply(
+            Units.radiansToRotations(desiredChassisSpeeds.omegaRadiansPerSecond)));
 
     return new ChassisSpeeds(vxMetersPerSecond, vyMetersPerSecond, omegaRadiansPerSecond);
   }

Diff for: src/main/java/frc/robot/swerve/Swerve.java

@@ -34,8 +34,9 @@ public class Swerve extends Subsystem {
         .withMaximumAcceleration(18); // meters per second per second
 
   /** Rotation motion profile config. */
+  // TODO Verify
   private final MotionProfileConfig rotationMotionProfileConfig =
-      new MotionProfileConfig().withMaximumVelocity(0.25); // rotations per second
+      new MotionProfileConfig().withMaximumVelocity(1); // rotations per second
 
   /** Initializes the swerve subsystem and configures swerve hardware. */
   private Swerve() {