Port auto system to command robot

[IanTapply22]

This is just to port over the auto system to use a command-based system. This should all be new code and I think we can say that we can move on from our old system which has served us many years. The migration to using WPILib commands over our old command-based system is critical for the integrity of our code which will hopefully serve us another decade or two.

You can find the requirements for this system in the following:

• Create a "main" class to house the auto inner-workings.
• An auto chooser. Used to select the autonomous mode we want to run for the match via controller bindings.
• Integrate our drive system with the auto system. This will give capabilities of our robot to drive on its own.
• Create auto-only commands. These will sort of act like building blocks to create our autos and will only be accessible in the autonomous period.
• Create commands for our subsystems. Allows us to utilize our subsystems (arm, intake, etc) during our autonomous period AND our teleoperated period. These should technically already be made when making subsystems, but this should be on the list of requirements.
• Integrate PathPlanner with our codebase to create custom paths using an easy-to-use UI.
• Create an example auto using PathPlanner. This will just give an example to teams on how to use PathPlanner and use it in their codebase.

All of the above can be done in separate PRs and should all be relatively small (200-300 lines of code at the MAX).

Time Estimate: 8 hours