Add field-centric driving and autocorrecting

[blucoat]

Field centric is a priority, since it was actually used. Autocorrecting turned out to be mostly unused. It would be interesting to experiment with PID to get autocorrecting. For example, use PID to hold the rate of rotation proportional to the amount of twist on the joystick.

Things to keep in mind:

• Driving in both autonomous and teleop should re-use code
• The different drive modes could possibly be related by inheritance.
• The drive code should be clean and simple, especially because it is possibly the most important code on the robot.