Add further documentation for 2023-2024 code

[J-The-Fox]

Overview

Add some further documentation to the 2023-2024 robot code. The main parts that lack documentation are the Swerve Drive parts

ex:

final static double maximumSpeed    = (6380 * 0.3191858136) / 60 / 3;
final static double maximumRotation = (maximumSpeed * 2 * Math.PI) / 2.7389195456 / 2;

or

swerveModuleState   = SwerveModuleState.optimize(swerveModuleState,Rotation2d.fromDegrees(turnMotor.getSelectedSensorPosition() / 11.3777778));
double maximumSpeed = (6380 * 0.3191858136) / 60 / 3;

final double desiredTurnPos = swerveModuleState.angle.getDegrees() * 11.3777778; // conversion from degrees to native encoder value

These parts are lacking in the documentation, main things I would like to document are the numbers, how we got them and why we are using them

[J-The-Fox]

Update

A lot of code documentation is being added alongside the various lint changes and improvements I've been working on.
Hopefully most if not all code should have required documentation either in the form of Javadocs or other comments (If something like an if statement needs additional documentation)