Add drive straight and turn in place commands & auto paths

[jcorcoran]

We seem to have hit a ceiling in terms of speed/acceleration using the characterization tools & trajectory generation code.

I think we'd be able to write a number of auto paths simply with just drive straight & turn in place commands.

Should be able to quickly get something running using the commands here: https://github.com/Team2168/2020_Main_Robot/tree/master/src/main/java/org/team2168/commands/drivetrain/PIDCommands

This will require some modifications to the drivetrain subsystem as well. See 2020 implementation here as an example: https://github.com/Team2168/2020_Main_Robot/blob/master/src/main/java/org/team2168/subsystems/Drivetrain.java

The objective here will be to get these simple commands working quickly and accurately. Assess performance by driving an known distance/heading and validating repeatable performance.

Repeatability is the key to being able to re-use these commands for arbitrary distances/headings.

[namanp07]

Jio and I are going to work on this

[jcorcoran]

Jio and I are going to work on this

I started a branch the other night: https://github.com/Team2168/2022_Main_Robot/tree/add_2020_auto/src/main @sloshyyy has been working on adding to it and testing on robot.

If you would like to help, please review the code in the above branch / 2020 robot, the code you've added so far in the fix_dt branch disregards the links provided in the original issue