Parameterize more stuff in RobotContainer

[danielbrownmsm]

Summary Justin pointed out that we should parameterize some more stuff to avoid having magic numbers in the code. Linking #43

Work Required

• parameterize stuff, especially in RobotContainer

Verification

• no more magic numbers
• CI passes

[danielbrownmsm]

We also need to parameterize the steer_pid tolerance in SwerveModule.cpp

[danielbrownmsm]

And control decay in SwerveDrive.cpp