Merge remote-tracking branch 'origin/dev' into dev

Author: thenetworkgrinch

src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java

@@ -228,7 +228,7 @@ public Command aimAtSpeaker(double tolerance)
                                                                                   getSpeakerYaw().getRadians()),
                                                       getHeading())
                );
-        }).until(() -> getSpeakerYaw().minus(getHeading()).getDegrees() < tolerance);
+        }).until(() -> Math.abs(getSpeakerYaw().minus(getHeading()).getDegrees()) < tolerance);
   }
 
   /**