Some Swerve Drive Issues

[Charipi]

Our clamping can cause issues by not proportionally decreasing all wheels. For example, if the FL motor has a power of 1.5 and the FR motor has a power of 1.0, the clamping will bring both to the same power. Instead, it would be better to decrease them all the same %.

Smaller issue:
When we call stopWheels() in teleop, the wheels will stop attempting to go to their target angle. For example, if the driver goes forward and lets go, the wheels stop rotating, but it would be nice if they kept rotating until they face forward.