Implement PathPlanner

[ErikCald]

PathPlanner is a tool we used last year to draw and follow auto paths. It is very helpful and probably the best tool out there.

I recommend reading the PathPlanner documentation and look at our code last year.

PathPlanner is also coming out with some big changes later in the offseason. It shouldn't change much from a API standpoint and will be easy to switch into using. However, the underlying structure is changing and we will need to learn about how it works to make our autos better.

[ErikCald]

Possible Tasks:

• [ ] Create a file to manage pathplanner, last year we called it AutoRoutines.java
• [ ] Construct a SwerveAutoBuilder object
• [ ] Create a setup to make the eventmap
• [ ] Coordinate with whoever is doing SwerveSubsystem stuff (or be that person) to make an additions needed for pathplanner
• [ ] Test creating some paths in pathplanner and running them on the robot
• [ ] Once everything above is done, the biggest task ahead is tuning, which should not be underestimated. Need to tune odometry mainly, and the P values of pathplanner.
• [ ] Coordinate with whoever is working on logging swerve to networktables. This logging is very important for tuning.