Fix joysticks and refactor

Author: jfabellera

src/main/java/frc/robot/RobotContainer.java

@@ -51,9 +51,9 @@ public RobotContainer() {
         // Turning is controlled by the X axis of the right stick.
         new RunCommand(
             () -> m_robotDrive.drive(
-                MathUtil.applyDeadband(m_driverController.getLeftY(), OIConstants.kDriveDeadband),
-                MathUtil.applyDeadband(m_driverController.getLeftX(), OIConstants.kDriveDeadband),
-                MathUtil.applyDeadband(m_driverController.getRightX(), OIConstants.kDriveDeadband),
+                -MathUtil.applyDeadband(m_driverController.getLeftY(), OIConstants.kDriveDeadband),
+                -MathUtil.applyDeadband(m_driverController.getLeftX(), OIConstants.kDriveDeadband),
+                -MathUtil.applyDeadband(m_driverController.getRightX(), OIConstants.kDriveDeadband),
                 true, true),
             m_robotDrive));
   }

src/main/java/frc/robot/subsystems/DriveSubsystem.java

@@ -114,6 +114,7 @@ public void resetOdometry(Pose2d pose) {
    * @param rot           Angular rate of the robot.
    * @param fieldRelative Whether the provided x and y speeds are relative to the
    *                      field.
+   * @param rateLimit     Whether to enable rate limiting for smoother control.
    */
   public void drive(double xSpeed, double ySpeed, double rot, boolean fieldRelative, boolean rateLimit) {
 
@@ -239,12 +240,4 @@ public double getHeading() {
   public double getTurnRate() {
     return m_gyro.getRate() * (DriveConstants.kGyroReversed ? -1.0 : 1.0);
   }
-
-  /*@Override
-  public void initSendable(SendableBuilder builder) {
-    super.initSendable(builder);
-    builder.addDoubleProperty("Magnitude Commanded",  () -> magCommanded, null);
-    //builder.addBooleanProperty("At Setpoint", () -> atSetpoint(), null);
-    //addChild("Controller", m_controller);
-  }*/
 }