Fixed docs, moved donate button lower.

Signed-off-by: thenetworkgrinch <thenetworkgrinch@users.noreply.github.com>

README.md

@@ -1,4 +1,3 @@
-<a href='https://ko-fi.com/yagsl' target='_blank'><img height='35' style='border:0px;height:46px;' src='https://az743702.vo.msecnd.net/cdn/kofi3.png?v=0' border='0' alt='Buy Me a Robot at ko-fi.com'></a>
 # Yet Another Generic Swerve Library (YAGSL) Example project
 
 YAGSL is intended to be an easy implementation of a generic swerve drive that should work for most
@@ -36,6 +35,9 @@ We will be actively montoring this and fix any issues when we can!
 * Development happens here on `YAGSL-Example`. `YAGSL` and `YAGSL-Lib` are updated on a nightly
   basis.
 
+# Support our developers!
+<a href='https://ko-fi.com/yagsl' target='_blank'><img height='35' style='border:0px;height:46px;' src='https://az743702.vo.msecnd.net/cdn/kofi3.png?v=0' border='0' alt='Buy Me a Robot at ko-fi.com'></a>
+
 ### TL;DR Generate and download your configuration [here](https://broncbotz3481.github.io/YAGSL-Example/) and unzip it so that it follows structure below:
 
 ```text

src/main/java/swervelib/parser/SwerveControllerConfiguration.java

@@ -23,8 +23,10 @@ public class SwerveControllerConfiguration
   public       double     maxAngularVelocity;
 
   /**
-   * Construct the swerve controller configuration.
+   * Construct the swerve controller configuration. Assumes robot is square to fetch maximum angular velocity.
    *
+   * @param driveCfg                    {@link SwerveDriveConfiguration} to fetch the first module X and Y used to
+   *                                    calculate the maximum angular velocity.
    * @param headingPIDF                 Heading PIDF configuration.
    * @param angleJoyStickRadiusDeadband Deadband on radius of angle joystick.
    * @param maxSpeedMPS                 Maximum speed in meters per second for angular velocity, remember if you have

src/main/java/swervelib/parser/SwerveDriveConfiguration.java

@@ -39,10 +39,11 @@ public class SwerveDriveConfiguration
   /**
    * Create swerve drive configuration.
    *
-   * @param moduleConfigs    Module configuration.
-   * @param swerveIMU        Swerve IMU.
-   * @param invertedIMU      Invert the IMU.
-   * @param driveFeedforward The drive motor feedforward to use for the {@link SwerveModule}.
+   * @param moduleConfigs           Module configuration.
+   * @param swerveIMU               Swerve IMU.
+   * @param invertedIMU             Invert the IMU.
+   * @param driveFeedforward        The drive motor feedforward to use for the {@link SwerveModule}.
+   * @param physicalCharacteristics {@link SwerveModulePhysicalCharacteristics} to store in association with self.
    */
   public SwerveDriveConfiguration(
       SwerveModuleConfiguration[] moduleConfigs,

src/main/java/swervelib/parser/SwerveModuleConfiguration.java

@@ -17,7 +17,7 @@ public class SwerveModuleConfiguration
    * {@link swervelib.math.SwerveMath#calculateDegreesPerSteeringRotation(double, double)} respectively to calculate the
    * conversion factors.
    */
-  public final MotorConfigDouble conversionFactors;
+  public final MotorConfigDouble                   conversionFactors;
   /**
    * Angle offset in degrees for the Swerve Module.
    */
@@ -79,6 +79,7 @@ public class SwerveModuleConfiguration
    * @param velocityPIDF            Velocity PIDF configuration.
    * @param physicalCharacteristics Physical characteristics of the swerve module.
    * @param name                    The name for the swerve module.
+   * @param conversionFactors       Conversion factors to be applied to the drive and angle motors.
    */
   public SwerveModuleConfiguration(
       SwerveMotor driveMotor,