Align Pathplanner and field centric swerve

[Rodney-Lewis]

Description

https://www.chiefdelphi.com/t/pathplanner-2024-beta/442364/369

Field centric swerve assumes +X is forward which doesn't natively work on the red side of the field when using the Pathplanner and WPILib odometry. Pathplanner and WPILib as they assume the origin of the field is mapped to the right corner of the blue alliance wall so forward would actually be negative.

Find a way to correct the driving direction based on the side of field you're on. No changes are required for the path itself.

Definition of done

• Implement an alliance color check
• Split RobotContainer configuration based on alliance color -- Path generation -- Drive direction

[Rodney-Lewis]

Alliance check needs to be put in multiple places to be reliable - https://www.chiefdelphi.com/t/getalliance-always-returning-red/425782/27

[Rodney-Lewis]

Fixed in Livonia prep.