Autonomous Path Planning

For the 2017 season, RobotCasserole extended the path-planning libraries used last year to a more general solution for omni-directional drivetrains. See the code and read more about it in its own repo:

https://github.com/RobotCasserole1736/MecanumPathPlanner

Note this is, as with most software, a work in progress - it served us well this year, but has a number of known limitations.