Fix robot orientation

[brokenfloppydisk]

The robot orientation currently has X = forward and Y = right and clockwise rotation, but WPILib uses X = forward, Y = left, and counter-clockwise rotation.

The NavX angle has to be negated, and the SwerveDriveKinematics in Constants.java needs to have its y-values flipped.

This will result in needing to negate nearly every single y-value in any swerve code, and NavX calculations that use yaw will need to be revised.

[brokenfloppydisk]

Field2D and PathPlanner will not work properly without fixing this first.