Add drift mode

[Team1280Programming]

This issue encompasses a wide range of alternative driving mechanisms which sacrifice speed for maneuverability. Among some of the key new drive modes that will be encompassed by the "drift" mode are:

• Rear wheel drive
  • Power off the front two swerve modules in the approximate direction of movement and use remaining modules to steer and power the robot
• Front wheel drive
  • Opposite of rear wheel drive; use only front two swerve modules
• Power steering
  • This isn't really power steering, but it doesn't matter. Instead of using one of the joysticks to set the heading, use it to set the rotation rate in a similar manner to cruise control. Moving it left or right adds or subtracts to the robot's angular velocity, with a button to reset angular velocity to zero.
• Three wheel drive
  • Disable one of the four swerve drive modules, either automatically (the one closest or farthest to the direction of movement) or manually, and move the remaining swerve drive modules as if all modules are active
• Diagonal drift
  • Slightly change the rotation of two swerve modules on one of the robot's main diagonals, where one is moved slightly more to the right than where it should be and the other is moved slightly more to the left than where it should be. This will cause them to pull against each other while the other two swerve modules move the robot in the desired direction. This should result in a slight dragging of two of the swerve module wheels, simulating true drift.

[quantum9Innovation]

Also enable simulated or sticky stick drift