Update YAGSL to handle controls better

swervelib/parser/json/ModuleJson.java

@@ -43,10 +43,6 @@ public class ModuleJson
    * The angle encoder pulse per revolution override. 1 for Neo encoder. 2048 for Falcons.
    */
   public double        angleEncoderPulsePerRevolution = 0;
-  /**
-   * Angle motor free speed RPM.
-   */
-  public double        angleMotorFreeSpeedRPM         = 0;
   /**
    * The location of the swerve module from the center of the robot in inches.
    */
@@ -59,13 +55,15 @@ public class ModuleJson
    * @param velocityPIDF            The velocity PIDF values for the drive motor.
    * @param maxSpeed                The maximum speed of the robot in meters per second.
    * @param physicalCharacteristics Physical characteristics of the swerve module.
+   * @param name                    Module json filename.
    * @return {@link SwerveModuleConfiguration} based on the provided data and parsed data.
    */
   public SwerveModuleConfiguration createModuleConfiguration(
       PIDFConfig anglePIDF,
       PIDFConfig velocityPIDF,
       double maxSpeed,
-      SwerveModulePhysicalCharacteristics physicalCharacteristics)
+      SwerveModulePhysicalCharacteristics physicalCharacteristics,
+      String name)
   {
     SwerveMotor           angleMotor = angle.createMotor(false);
     SwerveAbsoluteEncoder absEncoder = encoder.createEncoder();
@@ -93,6 +91,6 @@ public class ModuleJson
         inverted.angle,
         angleEncoderPulsePerRevolution == 0 ? physicalCharacteristics.angleEncoderPulsePerRotation
                                             : angleEncoderPulsePerRevolution,
-        angleMotorFreeSpeedRPM == 0 ? physicalCharacteristics.angleMotorFreeSpeedRPM : angleMotorFreeSpeedRPM);
+        name.replaceAll("\\.json", ""));
   }
 }