Fix Conversions for TalonFX getVelocity() and omegaRadPerSecond

[7910f6ba7ee4]

• Fix conversions for TalonFX getVelocity. Since velocity is in units/100ms, we multiply the raw units by 10 before applying the positionConversionFactor (which is in units meters/unit or degrees/unit).
• Fix conversions for omega since angleMotor.getVelocity() returns in deg/s, but we want rad/s

[thenetworkgrinch]

omega units are in degrees per second after the conversion factor. I am not sure how it would react to rad/s. This would need to be tested.

[7910f6ba7ee4]

We're using omega only as a local variable for returning a new SwerveModuleState2 though right? Doesn't SwerveModuleState2 need rad/s for the omegaRadPerSecond parameter, so we need to convert (only within the local getState() method) to rad/s from deg/s?

Should def be tested on a robot though, which I'll do Thursday, since I'm not sure why there weren't issues before.

[thenetworkgrinch]

It is supposed to be, but i treat it as deg/s with SparkMax's as 95 did in their code (which was wrong).

You are right it appears to be treated as radian per second elsewhere in the code.

[thenetworkgrinch]

Among closer inspection this is correct.