Convert the unitless joystick inputs to actual physical units

[jasonli0616]

Taking the joystick inputs from -1 to 1, multiply them by the max speed (as defined in Constants.java) to get the target speed, rather than using the unitless raw joystick inputs.

This resolves issue #5417.

[calcmogul]

Here's the corresponding change for C++:

diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/RobotContainer.cpp
index 52b25b9cb..60b493e52 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/RobotContainer.cpp
@@ -34,10 +34,9 @@ RobotContainer::RobotContainer() {
   // Turning is controlled by the X axis of the right stick.
   m_drive.SetDefaultCommand(frc2::RunCommand(
       [this] {
-        m_drive.Drive(
-            units::meters_per_second_t{m_driverController.GetLeftY()},
-            units::meters_per_second_t{m_driverController.GetLeftX()},
-            units::radians_per_second_t{m_driverController.GetRightX()}, false);
+        m_drive.Drive(m_driverController.GetLeftY() * kMaxSpeed,
+                      m_driverController.GetLeftX() * kMaxSpeed,
+                      m_driverController.GetRightX() * kMaxAngularSpeed, false);
       },
       {&m_drive}));
 }

[calcmogul]

Java side looks good, but needs C++.

[jasonli0616]

Made the corresponding change in C++

[calcmogul]

/format

[calcmogul]

/format

[jasonli0616]

The build (GitHub Actions check) was failing in cpp.

I used kMaxSpeed and kMaxAngularSpeed instead of AutoConstants::kMaxSpeed and AutoConstants::kMaxAngularSpeed.

Should be fixed now in the commit.

[calcmogul]

/format