Add Method to drive Field Oriented and Robot Oriented at the same time

src/main/java/swervelib/SwerveDrive.java

@@ -346,6 +346,19 @@ public void setHeadingCorrection(boolean state, double deadband)
     HEADING_CORRECTION_DEADBAND = deadband;
   }
 
+  /**
+   * Tertiary method of controlling the drive base given velocity in both field oriented and robot oriented at the same time. 
+   * The inputs are added together so this is not intneded to be used to give the driver both methods of control.
+   * 
+   * @param fieldOrientedVelocity The field oriented velocties to use
+   * @param robotOrientedVelocity The robot oriented velocties to use
+   */
+  public void driveFieldOrientedandRobotOriented(ChassisSpeeds fieldOrientedVelocity, ChassisSpeeds robotOrientedVelocity)
+  {
+    ChassisSpeeds TotalVelocties = ChassisSpeeds.fromFieldRelativeSpeeds(fieldOrientedVelocity, getOdometryHeading()).plus(robotOrientedVelocity);
+    drive(TotalVelocties);
+  }
+
   /**
    * Secondary method of controlling the drive base given velocity and adjusting it for field oriented use.
    *