Cap max speeds for driving.

src/main/java/frc/robot/commands/movement/SwerveCommand.java

@@ -1,6 +1,8 @@
 package frc.robot.commands.movement;
 
 import com.ctre.phoenix6.mechanisms.swerve.SwerveRequest;
+
+import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj2.command.Command;
@@ -23,6 +25,8 @@
  */
 public class SwerveCommand extends Command {
 
+  static private final double MAX_SPEED_TRANSLATION = 2.0;
+
   private final PIDController THETA_CONTROLLER;
   private final IntSupplier POV_DEGREE;
   private boolean isCardinalLocking = false;
@@ -109,13 +113,13 @@ public void execute() {
     //           DRIVETRAIN.getPose().getRotation().getDegrees(), THETA_CONTROLLER.getSetpoint());
     // }
 
-    double rotationalVelocity = rotationPercentage;
+    double rotationalVelocity = MathUtil.clamp(rotationPercentage, -Math.PI, Math.PI);
 
     DRIVETRAIN.setControl(
         DRIVE_REQUEST
-            .withVelocityX(xPercentage) // Drive forward with
+            .withVelocityX(MathUtil.clamp(xPercentage, -MAX_SPEED_TRANSLATION, MAX_SPEED_TRANSLATION)) // Drive forward with
             // negative Y (forward)
-            .withVelocityY(yPercentage) // Drive left with negative X (left)
+            .withVelocityY(MathUtil.clamp(yPercentage, -MAX_SPEED_TRANSLATION, MAX_SPEED_TRANSLATION)) // Drive left with negative X (left)
             .withRotationalRate(rotationalVelocity));
   }