Path generation

[SPCOxion]

Part 1 of 2 from Issue #3.

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• Phase 0: Preparation
  • Measure maximum velocity, acceleration, and jerk

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• Phase 1: Basic path generation
  • Generate a straight path using encoder followers + an angle control loop
  • Generate a curved path (see #13)

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• Phase 2: More advanced path generation
  • Generate paths before match begins
  • Generate paths connecting various points (left switch to left scale, right switch to cube, etc.)

[SPCOxion]

Pretty much done. We can do location-based path generation later, but this works.