Choreo Configuration

[stevemurphymsu]

https://docs.advantagekit.org/getting-started/template-projects/spark-swerve-template#pathplanner-configuration

[onlycs]

renaming this to Choreo configuration, as we don't use pathplanner.
It's the same stuff though (robot mass, MoI, various friction coefficients)

[stevemurphymsu]

This could be interesting in addition to Choreo for teleop, since paths do not need to be precomputed: https://edanliahovetsky.github.io/BLine-Docs/lib/path-construction/#defining-programmatically

[onlycs]

Choreo is not super reliable in terms of always making nice paths. it often needs human guidance (in the form of empty waypoints), especially for longer or more complicated paths.

#15 should be our on the field pathfinder, and I have it implemented locally