Commenting for documentation and fixing up drive.hpp

[jemminiz]

Summary:

I fixed up the documentation through drive.hpp because I felt that it was lackluster and could be improved.

Motivation:

This allows teams to more easily understand what their code is doing.

References (optional):

Test Plan:

Talk to newer teams and see how they prefer these comments to the old ones, if necessary.

• test item

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[jemminiz]

Build failed because I did a silly. Removed parameter e_angle_behavior for a getter that I didn't remove in the .cpp file. Rebuilding now, will update once all good

[jemminiz]

Build passed, should be good to go!