`driveWithController` command

[haydenheroux]

Currently, binding a controller to the drive's drive command takes the form of drive.drive(() -> speedsFromController(controller)). This is because drive is a function of supplied ChassisSpeeds. This flexible interface is a good design; however it is very granular and could be up to interpretation. So, a simpler method for binding a controller to a drive command may be warranted. Some examples for improvements:

1. Create a driveWithController alias that performs the binding within the method.

  public Command driveWithController(CommandXboxController controller) {
    return drive(() -> speedsFromController(controller));
  }

2. Extract speedsFromController and transform it to be a Function<CommandXboxController, Supplier<ChassisSpeeds>>

drive.drive(ChassisSpeedsHelper.fromController(controller))

Note that for 2, ChassisSpeedsHelper is a new class that assist with creating, transforming, and using ChassisSpeeds. There are multiple methods in Drive that have this responsibility; some can be moved to ChassisSpeedsHelper and some can't. It may be challenging to move some of these methods over, but all can be!