Rework center 1 cube auto using Pathfinder

The pathfinder library is already in our project, so there's no need to download anything new.
Currenty, the center auto is handled using a series of straight runs and in-place turns by buildCenterLeftCube and buildCenterRightCube. For this task, you should start by creating duplicates of those two functions (buildCenterLeftPath and buildCenterRightPath) and replace the initial approach steps (Attack1, left 22deg, Attack2, and face switch) with a single Pathfinder trajectory. This trajctory can consist of just two waypoints: 0,0,0 and -48, 134, 0.
More about Pathfinder can be found on Jaci's [wiki](https://github.com/JacisNonsense/Pathfinder/wiki/Pathfinder-for-FRC---Java).
For background on motion plannnig, please watch [Team 254's video](https://www.youtube.com/watch?v=8319J1BEHwM).
For a mostly working example, check out our AutoDrivePath class--although note that it assumes a straight path!