Pathplanner autonomous (Complex)

I want Aiden or I to do this probably

**Requirements**
- Pathplanner must be integrated into an autonomous system
- On the fly autos should be possible
- I will post a list of auto designs onto slack at some point and pin them
- Must handle events

**Steps:**
1. Setup the pathplanner object
2. Setup the event objects


Aiden DM me if you have any issues lol