[WIP] PID based drawing smoothing

Instructions

I think I still need some kind of interpolation to remove the discontinuities. Maybe I should also factor in how far off the current direction is from the direct direction into the error Play around with the variables and tell me if you find any good combinations that yield interesting results. The line should go through all the red points. A maximum turning rate, and maybe some smoothing could help as well. Maybe I could make it change the speed at which it is turning even