Exploring Path Planner

[Ayidana-Aboraah]

Look into the newer features like triggers and the Swerve Setpoint Generator. Also do the custom logging for path following.

https://pathplanner.dev/pplib-triggers.html#event-triggers
https://pathplanner.dev/pplib-swerve-setpoint-generator.html
https://pathplanner.dev/pplib-custom-logging.html