Fix getHeading to return Rotation2d with gyro inversion applied #39
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This change updates getHeading() to return a Rotation2d instead of a degree value, and applies gyro inversion handling inside the method.
Previously, the kGyroReversed Constant only affected the turn rate of the robot, which caused reversed gyros to not function correctly with this template. This change allows this constant to work as intended while simplifying heading calls.