better auto system

[cwoodard1121]

• without the use of commands
• more ways to trigger actions (eg pathplanner markers)
• any other stuff that sounds good

[Hsifeulbhsifder]

More ways to trigger actions can also include ellipse and box checks of pose.

Allow the ability to specify points and attempt to move in straight lines towards the points, and allowing the swerve smoothing to figure out the path.

State machine style autos that have conditionals that aren't just time (eg, based on waiting for SS state or pose checks)