Autonomous Driving Improvements

[danielbrownmsm]

Summary
We got away with only a single simple drive backwards command in auton at GKC and Shawnee, but we're going to need to drive around a little more for worlds. So we need to create some new drive commands.

Work Required

• make a command that drives the robot straight on its current heading
• make a command that drives the robot a set distance in an arbitrary heading on that heading
• make a command that locks the wheels at 45/135 degrees and turns the robot to a given heading

Verification

• CI passes
• commands written
• commands are not terrible

[danielbrownmsm]

driving straight is done by Abbey per feat/drive-straight #78