Added old Drive Code

Copy + Paste of drive code from last year and implemented all the necessary Libraries.

TeamCode/build.gradle

@@ -18,4 +18,9 @@ apply from: '../build.dependencies.gradle'
 dependencies {
     implementation project(':FtcRobotController')
     annotationProcessor files('lib/OpModeAnnotationProcessor.jar')
+
+    implementation 'org.apache.commons:commons-math3:3.6.1'
+
+    implementation 'com.acmerobotics.roadrunner:core:0.5.2'
+    implementation 'com.acmerobotics.dashboard:dashboard:0.3.10'
 }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/BaseBotMecanumDrive.java

@@ -0,0 +1,35 @@
+package org.firstinspires.ftc.teamcode.drive;
+
+import com.acmerobotics.roadrunner.control.PIDCoefficients;
+import com.acmerobotics.roadrunner.geometry.Pose2d;
+import com.acmerobotics.roadrunner.trajectory.Trajectory;
+import com.acmerobotics.roadrunner.trajectory.TrajectoryBuilder;
+import com.qualcomm.robotcore.hardware.DcMotor;
+
+public abstract class BaseBotMecanumDrive extends com.acmerobotics.roadrunner.drive.MecanumDrive {
+    public BaseBotMecanumDrive(double kV, double kA, double kStatic, double trackWidth, double wheelBase, double lateralMultiplier) {
+        super(kV, kA, kStatic, trackWidth, wheelBase, lateralMultiplier);
+    }
+
+    public abstract TrajectoryBuilder trajectoryBuilder(Pose2d startPose);
+
+    public abstract TrajectoryBuilder trajectoryBuilder(Pose2d startPose, boolean reversed);
+
+    public abstract TrajectoryBuilder trajectoryBuilder(Pose2d startPose, double startHeading);
+
+    public abstract void turnAsync(double angle);
+
+    public abstract void turn(double angle);
+
+    public abstract void followTrajectory(Trajectory trajectory);
+
+    public abstract void update();
+
+    public abstract boolean isBusy();
+
+    public abstract void setMode(DcMotor.RunMode runMode);
+
+    public abstract void setPIDCoefficients(DcMotor.RunMode runMode, PIDCoefficients coefficients);
+
+    public abstract void setWeightedDrivePower(Pose2d drivePower);
+}