Add Field2d debugging steps to trajectory tutorial / troubleshooting

[prateekma]

Now that we have Field2d, we should talk about how teams can visualize their odometry. They can use this to push their robot around when disabled and verify that everything looks correct.

Once 2021.3.1 is out, we should also talk about plotting the desired trajectory.

[sciencewhiz]

I think that's great for verifying odometry. I think we could also add more baby steps. For example, define a straight path and have the robot follow it on blocks (make sure it actually stops). Then run the same path on the ground (eliminate gyro/trackwidth issues) then run a 90 degree path on the ground, and then finally run the s-curve that is currently in the tutorial.

[prateekma]

I think the issue with running on blocks is that feedback gains for the ground will cause terrible oscillation. We need to ask teams to change their feedback gains (or set to 0) when on blocks and this is an additional step.

[jasondaming]

I think any and all extra steps here would be a good idea. There are WAY too many people that their trajectory "not working" is entirely due to these issues. Advanced users that know better can skip or combine things but most of the people reading this really need every step.