[Path Planner] Add dynamic replanning

[GreenTomato5]

This carried us throughout comp im ngl. We need this for 2025. To test in sim just set max velocity to some unachievable value then it wont get there fast enough and will have to replan. Just take the code from PP 2024 api

[GreenTomato5]

Sum1 else should do this ngl

[GreenTomato5]

Repo: https://github.com/mjansen4857/pathplanner

Dynamic replanning is changing the path to follow to a different automatically generated path once a certain margin of error is reached making following the active path impossible. Idrk how it works in code (haven't read pp code yet). Basically just look for how it works and drop in in before it gets destroyed in 2025