Split RobotDrive class into a class for each drive type (#552)

DiffDrive.CurvatureDrive (aka CheesyDrive) and KilloughDrive were also added.
This reorganization paves the way for SwerveDrive.

wpilibc/src/main/native/include/Drive/MecanumDrive.h

@@ -0,0 +1,66 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2008-2017 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <memory>
+
+#include <llvm/raw_ostream.h>
+
+#include "Drive/RobotDriveBase.h"
+
+namespace frc {
+
+class SpeedController;
+
+/**
+ * A class for driving Mecanum drive platforms.
+ *
+ * Mecanum drives are rectangular with one wheel on each corner. Each wheel has
+ * rollers toed in 45 degrees toward the front or back. When looking at the
+ * wheels from the top, the roller axles should form an X across the robot.
+ *
+ * Drive base diagram:
+ * <pre>
+ * \\_______/
+ * \\ |   | /
+ *   |   |
+ * /_|___|_\\
+ * /       \\
+ * </pre>
+ *
+ * Each Drive() function provides different inverse kinematic relations for a
+ * Mecanum drive robot. Motor outputs for the right side are negated, so motor
+ * direction inversion by the user is usually unnecessary.
+ */
+class MecanumDrive : public RobotDriveBase {
+ public:
+  MecanumDrive(SpeedController& frontLeftMotor, SpeedController& rearLeftMotor,
+               SpeedController& frontRightMotor,
+               SpeedController& rearRightMotor);
+  virtual ~MecanumDrive() = default;
+
+  MecanumDrive(const MecanumDrive&) = delete;
+  MecanumDrive& operator=(const MecanumDrive&) = delete;
+
+  void DriveCartesian(double x, double y, double rotation,
+                      double gyroAngle = 0.0);
+  void DrivePolar(double magnitude, double angle, double rotation);
+
+  void StopMotor() override;
+  void GetDescription(llvm::raw_ostream& desc) const override;
+
+ private:
+  SpeedController& m_frontLeftMotor;
+  SpeedController& m_rearLeftMotor;
+  SpeedController& m_frontRightMotor;
+  SpeedController& m_rearRightMotor;
+
+  bool reported = false;
+};
+
+}  // namespace frc