changes to the way lastValidSteeringAngle is handled in motion.cpp.

now it is its own variable and keeps the wheel from flipping over
in the limit steering angle code. this works much better for turn in
place
much better smooth planning!

fixed bugs in the turn in place code, including keeping it form
going the wrong way.

also fixed major bug in the setPath code that allocated too many
points when there were chained turns in place and caused giant negative
timestamps.
another debug error statement. these should get cleaned up soon.

sorry about all the error spew.
super simple turn and go motion primitive file.

this isn't fancy, but it gets the job mostly done. it does not have
enough angle steps to be quite useful though. that's something to work
on next...
the modifications to the motion primitives generator I used to make the
latest primitives.

no turning while moving, turn in place only. this is more sad than
it could be, but it is working...
can't have the gdb statement here, it won't run on a machine without an
x session