Refactor autonomous to use PathPlanner's auto builder framework

- AutoBuilderSubsystem has been refactored to use PathPlanner auto builder
- Old auto paths were removed, one new PathPlanner auto has been added with two paths
- Three named commands were added for use in PathPlanner auto builder: shootSpeaker, handoff, resetFwd

src/main/deploy/pathplanner/autos/Shoot Center, Mobility.auto

@@ -0,0 +1,37 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 0.5089169846192605,
+      "y": 7.0
+    },
+    "rotation": 0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "To Center Speaker"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "shootSpeaker"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "To Mobility Zone"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/paths/Mobility A.path

@@ -55,4 +55,4 @@
     "velocity": 0
   },
   "useDefaultConstraints": true
-}
+}

src/main/deploy/pathplanner/paths/Mobility C.path

@@ -55,4 +55,4 @@
     "velocity": 0
   },
   "useDefaultConstraints": true
-}
+}

src/main/deploy/pathplanner/paths/Start A, Speaker C.path

@@ -49,4 +49,4 @@
     "velocity": 0
   },
   "useDefaultConstraints": true
-}
+}

src/main/java/frc/robot/subsystem/AutoBuilderSubsystem.java

@@ -71,7 +71,7 @@ public AutoBuilderSubsystem(PositioningSubsystem positioning, DriveSubsystem dri
                 .getEntry();
 
         autoChooser = AutoBuilder.buildAutoChooser();
-        autoTab.add("PP Auto", autoChooser).withSize(4, 1).withPosition(0, 1);
+        autoTab.add("PP Auto", autoChooser).withSize(2, 1).withPosition(1, 1);
 
         posePresetChooser = MoShuffleboard.enumToChooser(StartPosePreset.class);
         posePresetChooser.onChange(preset -> this.flipAndSetStartPose(preset.pose));