Auto-score & Auto-pickup in teleoperated period using odometry

[ehamwey]

Navigating to scoring and pickup positions in teleop can be aided by automation & odometry. This would encompass several smaller tasks that would need to work in tandem, therefore I'm labeling this an epic:

For North Shore event, so we can collect data:

• Update odometry from AprilTags using swerve pose estimator #36 Limelight 3D AprilTag data fed into SwerveDrivePoseEstimator Kalman filter to correct odometry drift using addVisionMeasurement()
• Implement AdvantageKit logging #44 Logging to track & debug odometry over time (AdvantageKit)

For the Greater Boston event, so we can actually run auto-score:

• Software (a webserver?) to select exact scoring positions on the grid intuitively, such as 6328's node selector Robot parser | webserver | post explaining how it works
• On-the-fly path generation to go to grid scoring positions or substation from anywhere on the field while avoiding opponent's zones using PathPlanner OTF path generation