Another try at selecting and interpolating segments
Interpolate delta from previous

not between deltas
More careful interpolation of velocities
Much more debug logging, timing
Log times

Better place to log times

Log sent time

Print silly things
Fix overwriting of time value
Correct velocity interpolation
Fix wheel distance calculation
Straight line path
Log path before processing
Look up transforms once at beginning of processing
Fix typo in phidot
Circle path
More debugging of path->pod local conversion

Fixed several errors in the math
Wrong rotation direction
Forgot to rotate pod when computing velocity offset
Allow runtime selection of different test paths
Quite down debugging prints