Update robot starting position so logged odometry is cooler

[edf42001]

It would be very nice to have the robot starting position set correctly so that we can see how accurately the robot thinks it is driving around the field. Here's a simple 4 step process:

• [ ] Update getInitialPoseForAlliance to take in a pose instead of a path https://github.com/frc2399/2023-Season/blob/146b37c32bba7004db68c31f7d01326b7017b9ae/src/main/java/frc/robot/util/PathUtil.java#L17
• [ ] Use the method in all the autonomous routines with designated starting positions
• [ ] Using the path planner interface, figure out the exact coordinates of the robot starting position for each routine
• [ ] Test that everything works