Path smoothing doesn't override lookahead #202

[ssejrog]

Summary:

Path smothing doesn't force points into look ahead of the robot

Motivation:

Complies with #152

References (optional):

#202

Test Plan:

Run this and ensure there are no points within look ahead, by default this is 10in.

  chassis.pid_odom_set({{{0_in, 6_in}, fwd, 110},
                        {{0_in, 12_in}, fwd, 110},
                        {{0_in, 24_in}, fwd, 110}},
                       true);
  chassis.pid_wait();

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