Create custom DriveEncoder class

[michaelvdow]

The DriveEncoder class should extend Encoder. It needs to implement the constructor with two ints for ports, a boolean for direction, and an EncodingType.

In the constructor, it needs to call several methods:

• setMaxPeriod()
• setMinRate()
• setDistancePerPulse()
  These will have parameters that you will have to create in the ConstantsMap. For calculating encoder distance per pulse, you will need the wheel size and the pulses per revolution (1028).

You also need to run this method:

• setPIDSourceType(PIDSourceType.kDisplacement)

Check out the ExampleRobot repository for an example.