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This commit adds the variable 'traction_gain_percent_' in talon_swerve_drive_controller, which allows for limiting of velocity increases on the swerve drive. It controls the percent increase between the current velocity and the goal velocity. If the goal velocity is too high, it is capped. This should hopefully help with traction issues. If the variable is not set, the goal velocity is sent to the wheels as normal.
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This PR allows for controlling of the wheel velocity increases, which can help reduce traction. It addresses FRC900/prog_gen_tasks#729. We still need to test to figure out what the percent increase should be.