I just found out I will be served with papers being sued by a collection agency is there any way I can call the collection agency or the lawyer representing them and pay it in full without going to court

Yes, you call the Attorney's office and make an offer to settle. I would offer around 60% cash, now.

If you are proposing payments my feeling is that the creditor will proceed to Judgment but allow you to make payments. If you fail to make a payment, they will enforce the Judgment.