Adding rudimentary PathPlanner stuff

src/main/java/frc/robot/constants/AutoConstants.java

@@ -1,6 +1,11 @@
 package frc.robot.constants;
 
+import com.pathplanner.lib.util.HolonomicPathFollowerConfig;
+import com.pathplanner.lib.util.PIDConstants;
+import com.pathplanner.lib.util.ReplanningConfig;
+
 import edu.wpi.first.math.trajectory.TrapezoidProfile;
+import edu.wpi.first.math.util.Units;
 
 public final class AutoConstants {
     public static final double kMaxSpeedMetersPerSecond = 3.895; // max capable = 4.6
@@ -15,6 +20,15 @@ public final class AutoConstants {
     public static final double kPHeadingController = 0.02; // for heading control NOT PATHING
     public static final double kDHeadingController = 0.0025;
 
+    // TODO Is the robot module radius correct?
+    public static final HolonomicPathFollowerConfig kPFConfig = new HolonomicPathFollowerConfig(
+        new PIDConstants(kPXController), 
+        new PIDConstants(kPThetaController), 
+        kMaxSpeedMetersPerSecond, 
+        Units.inchesToMeters(36.77), 
+        new ReplanningConfig()
+    );
+
     // Constraint for the motion profiled robot angle controller
     public static final TrapezoidProfile.Constraints kThetaControllerConstraints = new TrapezoidProfile.Constraints(
         kMaxAngularSpeedRadiansPerSecond, kMaxAngularSpeedRadiansPerSecondSquared);

src/main/java/frc/robot/constants/SwerveModuleConstants.java

@@ -2,7 +2,7 @@ package frc.robot.constants;
 
 import com.revrobotics.CANSparkBase.IdleMode;
 
-public class ModuleConstants {
+public class SwerveModuleConstants {
     // The MAXSwerve module can be configured with one of three pinion gears: 12T, 13T, or 14T.
     // This changes the drive speed of the module (a pinion gear with more teeth will result in a
     // robot that drives faster).