Autonomous

[CarlyAmar]

I'll post more about auto routines here

[CarlyAmar]

To do this we need to finish #177 to get auto alignment

[CarlyAmar]

After we get auto alignment, we need to navigate the field using the Nav board and the encoders

see #179

[CarlyAmar]

After we get navigation, we need to test how to push away trash cans using the roller wheels

See #180

[CarlyAmar]

After we push away cans, we can use encoders, an IR and an US to lift up crates and stack them as we move

See #181

[CarlyAmar]

After that we need to bring the full stack into the auto zone

[CarlyAmar]

This needs to be implemented incrementally because we don't actually know how many totes we can hold with the new forks. This means 1 bin, 2 bin, 3 bin with options to either carry the stack or just push it