Fix wpilib deprecation

Author: jfabellera

src/main/java/frc/robot/subsystems/MAXSwerveModule.java

@@ -98,12 +98,11 @@ public void setDesiredState(SwerveModuleState desiredState) {
     correctedDesiredState.angle = desiredState.angle.plus(Rotation2d.fromRadians(m_chassisAngularOffset));
 
     // Optimize the reference state to avoid spinning further than 90 degrees.
-    SwerveModuleState optimizedDesiredState = SwerveModuleState.optimize(correctedDesiredState,
-        new Rotation2d(m_turningEncoder.getPosition()));
+    correctedDesiredState.optimize(new Rotation2d(m_turningEncoder.getPosition()));
 
     // Command driving and turning SPARKS MAX towards their respective setpoints.
-    m_drivingPIDController.setReference(optimizedDesiredState.speedMetersPerSecond, ControlType.kVelocity);
-    m_turningPIDController.setReference(optimizedDesiredState.angle.getRadians(), ControlType.kPosition);
+    m_drivingPIDController.setReference(correctedDesiredState.speedMetersPerSecond, ControlType.kVelocity);
+    m_turningPIDController.setReference(correctedDesiredState.angle.getRadians(), ControlType.kPosition);
 
     m_desiredState = desiredState;
   }