More Drive Commands

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If you're looking for some more work that will make auto modes easier to write. Consider writing a few AutoDrive commands for turning to an angle, driving at a speed, driving a certain distance, etc. Look in trapezoidal motion profiles for your control loops (i.e. constant acceleration profiles). Also get closed loop driving working if that hasn't been done yet lol. For PID stuff with talons, definitely use the Talon's built in PID control and just use your drive thread to change the talon setpoints/modes.