DriveDistance

[DrewTheRat]

Goal

DriveDistance command that uses an encoder and closed loop control on the Talon SRX to move the robot a specific distance

Acceptance Criteria

• [x] DriveDistance command object constructed with a distance (in feet) and a max voltage
• [x] Encode positions published to the network table in feed and ticks
• [x] Uses the latest objects and methods from CTRE
• [x] DistanceProvider interface that can be implemented by other classes to provide a distance to the DriveDistance command.
• [x] Additional constructor that takes a DistanceProvider object and max voltage.
• [x] Initialize method gets the distance from the DistanceProvider if it there.
• [x] State of the controller should be the same after driving a given distance than it was prior to driving
• [x] DriveDistance exit condition should not prematurely be triggered when system is oscillating around target position

[DrewTheRat]

This should have been done days ago - getting it in here just to make sure we have everything working.

[Endoman123]

Closed since we have tested this with various values: hardcoded and sensor-fed.