fix: Address hardware mapping bugs and set up base Mecanum drive

Author: blarghmatey

TeamCode/src/main/java/org/mrpsvt/capital_robotics/control/ControlMap.java

@@ -1,9 +1,16 @@
 package org.mrpsvt.capital_robotics.control;
 
+import com.qualcomm.robotcore.hardware.Gamepad;
+import com.qualcomm.robotcore.hardware.HardwareMap;
 import com.seattlesolvers.solverslib.gamepad.GamepadEx;
 
 public class ControlMap {
 
     public GamepadEx driver1;
     public GamepadEx driver2;
+
+    public ControlMap(Gamepad gamepad1, Gamepad gamepad2) {
+        driver1 = new GamepadEx(gamepad1);
+        driver2 = new GamepadEx(gamepad2);
+    }
 }

TeamCode/src/main/java/org/mrpsvt/capital_robotics/robot_core/DriveBase.java

@@ -22,7 +22,6 @@ public class DriveBase {
     public DriveBase(HardwareMap hardwareMap) {
         this.hardwareMap = hardwareMap;
         this.mecanum = initDriveBase();
-        this.imu = initIMU();
     }
 
     public MecanumDrive initDriveBase() {

TeamCode/src/main/java/org/mrpsvt/capital_robotics/teleop/DefaultOpmode.java

@@ -22,7 +22,7 @@ public class DefaultOpmode extends OpMode {
     @Override
     public void init() {
         DriveBase driveBase = new DriveBase(hardwareMap);
-        controls = new ControlMap();
+        controls = new ControlMap(gamepad1, gamepad2);
         drive = driveBase.mecanum;
         imu = driveBase.imu;
         driveConstants = new DriveConstants();
@@ -32,8 +32,8 @@ public void init() {
     public void loop() {
         if (Objects.equals(driveConstants.robotDriveMode, DriveConstants.ROBOT_CENTRIC)) {
             drive.driveRobotCentric(
-                controls.driver1.getLeftY() * driveConstants.forwardSpeed,
-                controls.driver1.getLeftX() * driveConstants.strafeSpeed,
+                controls.driver1.getLeftX() * driveConstants.forwardSpeed,
+                controls.driver1.getLeftY() * driveConstants.strafeSpeed,
                 controls.driver1.getRightX() * driveConstants.turnSpeed
             );
         } else if (Objects.equals(driveConstants.robotDriveMode, DriveConstants.FIELD_CENTRIC)) {