Adapt pathplanner Lib#648
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NormalDuck wants to merge 5 commits intomainfrom
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Why are we doing this?
We are doing this to make it easier for us to code auto since I am encountering some issues with existing auto pathplanner so I decided to switch into open source version and it worked fine. I think our original pathplanner works perfectly fine, but I cannot grasp the complex logic of creating obstacles, creating paths through code, and pathplanner provides a library that has is more battle tested and used in different teams. They also have a little fail safe mechaism that stops pathplanning when they are stuck, so much quality features and more documented code. I don't think adapting this will hinder the learning process, I am still using their pathplanning api and its easy to extend as I am still coding the keypoints in the map, but I can now edit with navgrid.json and if I don't want to code the keypoints, I can use gui to sacrfice some extensibility.
Whats changing?
Questions/notes for reviewers
How this was tested