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/RobotDriveBase.h

@@ -0,0 +1,68 @@
+/*----------------------------------------------------------------------------*/
+/* 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/ArrayRef.h>
+#include <llvm/raw_ostream.h>
+
+#include "ErrorBase.h"
+#include "MotorSafety.h"
+#include "MotorSafetyHelper.h"
+
+namespace frc {
+
+class SpeedController;
+
+/**
+ * Common base class for drive platforms.
+ */
+class RobotDriveBase : public MotorSafety, public ErrorBase {
+ public:
+  /**
+   * The location of a motor on the robot for the purpose of driving.
+   */
+  enum MotorType {
+    kFrontLeft = 0,
+    kFrontRight = 1,
+    kRearLeft = 2,
+    kRearRight = 3,
+    kLeft = 0,
+    kRight = 1,
+    kBack = 2
+  };
+
+  RobotDriveBase();
+  virtual ~RobotDriveBase() = default;
+
+  RobotDriveBase(const RobotDriveBase&) = delete;
+  RobotDriveBase& operator=(const RobotDriveBase&) = delete;
+
+  void SetDeadband(double deadband);
+  void SetMaxOutput(double maxOutput);
+
+  void SetExpiration(double timeout) override;
+  double GetExpiration() const override;
+  bool IsAlive() const override;
+  void StopMotor() override = 0;
+  bool IsSafetyEnabled() const override;
+  void SetSafetyEnabled(bool enabled) override;
+  void GetDescription(llvm::raw_ostream& desc) const override = 0;
+
+ protected:
+  double Limit(double number);
+  double ApplyDeadband(double number, double deadband);
+  void Normalize(llvm::MutableArrayRef<double> wheelSpeeds);
+
+  double m_deadband = 0.02;
+  double m_maxOutput = 1.0;
+  MotorSafetyHelper m_safetyHelper{this};
+};
+
+}  // namespace frc