We just released 3061-lib with this season’s code, which includes a MoveToPose command and associated classes that generate paths on the fly. The path generation was triggered on a button press. The field was modeled as a collection of regions with transition points defined from a region to each of its neighbors. The path was generated to pass through these points between the starting and ending points.
The MoveToPose command class is a good place to start with more details in the Field2d and Region2d classes.