Basic Driving Auto

[dltompki]

Working on #10 and #15

New Commands:

• DriveEncoder (auto drive a certain number of wheel rotations)
• DriveInches (wrapper of DriveEncoder for inches)
• DriveCM (wrapper of DriveEncoder for centimeters)
• OnePowerCell (combines DriveInches with activating and deactivating intake mode in a SequentialCommandGroup)

Also:

• Added some constants

Please do not merge until we have tested on the robot

[dltompki]

@jefft138 Okay, we'll have to ask mechanical what the gear ratio is. Your testing methodology makes sense, although I'm not too familiar with DriveTimed.

I'll remove my comment since the implementation is correct. Just wanted to make sure.

[dltompki]

Full details of changes I made after PR approval can be viewed in the comments for 4c84b628b1fc6d6f0aea0845afc3ae7f9d1c7a06.

How did the robot do picking up the ball while driving at our autonomous speed?

All systems worked as well as they do in teleop. Picking up the ball did not seem to affect distance consistency either.

later when we try to turn after picking up the ball, we will also want to see that turning with the ball still in the rollers toward the intake doesn't cause the ball to jam

Added this to #11

This PR is ready for merge except that we did not test driving backward in autonomous. We will need to quickly test this on Wednesday.